def parseDataFromIndiWords(data):
declesions = []
for word, url in data:
domain = "https://en.wiktionary.org%s"
page = utils.fetchSoup(domain % url)
try:
table = page("table", {"class" : "prettytable"})[0]
# print(str(table)[30:50])
nouns = [unicode(i.string) for i in page("ol")[0]("a")]
print(nouns)
gender = unicode(page("span", {"class" : "gender"})[0].string)
print(gender)
except:
print("[+] Table for word : %s not found!" % word)
table, nouns = [], []
# processing begins here
try:
tableProcd = [[unicode(k.string) for k in j("td")] for j in table("tr")]
print("[+] Word %s has %d nouns" % (word, len(nouns)))
declesions.append((word, nouns, tableProcd, gender))
except Exception as e:
print(e)
print("[!] Seems like there exists No required Data, SKIP!")
utils.sleeper(3)
# break
return declesions
def __init__(self, urdfRoot=pybullet_data.getDataPath(), performGraspFunc=None):
self._timeStep = 1. / 1000.
self._urdfRoot = urdfRoot
self._performGrasp = performGraspFunc
# camera parameters
self._camDist = 0.2
self._camYaw = 0.
self._camPitch = -45
self._camTargetPosition = [0.2, 0., -0.1]
# experiment state variables
self.total_attempts = 0
self.total_success = 0
self._p = p
self.sleeper = sleeper(self._p, self._timeStep)
p.connect(p.GUI)
self.reset()
words = [(unicode(i("a")[0].string), i("a")[0]["href"]) for i in g("li")]
categ = unicode(g("h3")[0].string)
data.extend(words)
print ("[*] Letter %s has %d words" % (categ, len(words)))
# extract url for next page
links = page[0]("a")
nextL = [x for x in links if x.string == "next page"]
if len(nextL) == 0:
print ("Done Scraping!")
break
url = "https://en.wiktionary.org" + nextL[0]["href"]
print ("-" * 20)
utils.sleeper(3)
break
utils.PWriter("FaroeseWordsLinks.p", data)
print ("+-" * 20)
# faroeseData = parser.parseDataFromIndiWords(data)
# utils.PWriter("FaroeseNounsData.p", faroeseData)
result = []
f = open("FaroeseNounsData.speling", "w")
for d in data:
fData = parser.parseDataFromIndiWords([d])
# Empty Table condition
if len(fData) == 0:
def __init__(self,
urdfRootPath=pybullet_data.getDataPath(),
initPos=[0.00000, 0.00000, 0.50000],
timeStep=0.01):
self._p = p
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self.sleeper = sleeper(self._p, self.timeStep)
self.initPos = initPos
self.maxVelocity = .35
# define joint indices
self.baseIndex = 0
self.wristXIndex = 1
self.wristYIndex = 2
self.wristWIndex = 3
self.rightFingerIndex = 4
self.rightFingerPadIndex = 5
self.leftFingerIndex = 6
self.leftFingerPadIndex = 7
### LOAD GRIPPER MODELS
self.gripperUid = p.loadURDF(
os.path.join(self.urdfRootPath, "franka_panda/panda_hand2.urdf"))
for i in range(p.getNumJoints(self.gripperUid)):
print(p.getJointInfo(self.gripperUid, i)[1])
# load some reference frames
#self.loadDebugRefFrames()
# set the position of the base to be on the table
p.resetBasePositionAndOrientation(
self.gripperUid, self.initPos,
[0.000000, 0.000000, 0.000000, 1.000000])
# finger tip jacobian
Rskew = np.zeros((3, 3))
Rskew[2, 0] = 0.007
Rskew[0, 2] = -0.007
I = np.eye(3)
self.Jtip = np.block([[I, Rskew], [np.zeros((3, 3)), I]])
### SETUP CONTROLS
# create pd Controller instance for gripper
self.fingerPDController = PDControllerExplicit(self._p,
self.gripperUid,
self.rightFingerIndex)
# set default controller parameters
self.gripperQDes = 0.04
self.gripperMaxForce = 100.
self.gripperPosGain = 1500.0
self.gripperVelGain = 10.0
# filter for wrist force sensor
# 2nd order butterworth at fc=20 Hz and fs=1000 Hz
self.filt = lowPassFilter(2, 20, 1000)
# disable position control to use explicit position control torque Torque control
p.setJointMotorControl2(self.gripperUid,
self.rightFingerIndex,
p.POSITION_CONTROL,
targetPosition=0.00,
force=0.0)
# for gear constraint left finger must be in position control with no force limit
p.setJointMotorControl2(self.gripperUid,
self.leftFingerIndex,
p.POSITION_CONTROL,
targetPosition=0.00,
force=0.0)
# create the gearing contraint. Make left finger
# child of right finger.
c = p.createConstraint(self.gripperUid,
self.rightFingerIndex,
self.gripperUid,
self.leftFingerIndex,
jointType=p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
p.changeConstraint(c, gearRatio=-1, maxForce=100000)
# initialize wrist PD controller
self.wristXPDController = PDControllerExplicit(self._p,
self.gripperUid,
self.wristXIndex)
self.wristYPDController = PDControllerExplicit(self._p,
self.gripperUid,
self.wristYIndex)
self.wristWPDController = PDControllerExplicit(self._p,
self.gripperUid,
self.wristWIndex)
self.wristPosGain = 20.0
self.wristVelGain = 0.3
self.wristMaxForce = 50.
# command all joint to their default pose
self.resetPose()
# load force torque sensors
self.rightFT = FTSensor(self.gripperUid, self.rightFingerPadIndex)
self.leftFT = FTSensor(self.gripperUid, self.leftFingerPadIndex)
# let system settle and zero the force sensor
self.sleeper.sleepSim(1, self.step)
self.rightFT.zeroSensorBias()
self.leftFT.zeroSensorBias()
self.currMode = 0
