def setup(parse_sys=True): global mode, klampt_model, motion_server_addr import os from common.Motion import motion motion_root = os.getenv("MOTION_API_PATH", "./common/") if parse_sys: parse_args() print "Loading Motion Module model", klampt_model motion.setup(mode=mode, klampt_model=klampt_model, libpath=motion_root, server_addr=motion_server_addr)
def __init__(self, hand_position=(0,0,0)): klampt_model = "common/klampt_models/baxter_col.rob" mode = "physical" self.hand_position = hand_position print "Loading Motion Module model", klampt_model motion.setup(mode=mode,klampt_model=klampt_model,libpath="common/",) res = motion.robot.startup() if not res: raise RuntimeError("Unable to startup motion module") time.sleep(0.1) self.world = WorldModel() res = self.world.readFile(klampt_model) if not res: raise RuntimeError("Unable to load Klamp't model", klampt_model) self.kRobot = self.world.robot(0) self.pRobot = motion.robot