class Environment(object): packageName = 'iai_maps' meshPackageName = 'iai_maps' urdfName = 'kitchen_area' urdfSuffix = "" srdfSuffix = "" # Load robot and object. {{{3 robot = Robot('pr2-box', 'pr2', rootJointType="anchor") ps = ProblemSolver(robot) vf = ViewerFactory(ps) robot.setJointPosition('pr2/base_joint', (-3.2, -4, 0, 1, 0, 0, 0)) vf.loadObjectModel(Box, 'box') vf.loadEnvironmentModel(Environment, "kitchen_area") robot.setJointBounds("box/base_joint_xyz", [-3, -2, -5, -3, 0.7, 1]) # 3}}} # Define configurations. {{{3 q_init = robot.getCurrentConfig() rank = robot.rankInConfiguration['pr2/r_gripper_l_finger_joint'] q_init[rank] = 0.5 rank = robot.rankInConfiguration['pr2/r_gripper_r_finger_joint'] q_init[rank] = 0.5 rank = robot.rankInConfiguration['pr2/l_gripper_l_finger_joint'] q_init[rank] = 0.5 rank = robot.rankInConfiguration['pr2/l_gripper_r_finger_joint'] q_init[rank] = 0.5
urdfSuffix = "" srdfSuffix = "" class Environment (object): packageName = 'iai_maps' meshPackageName = 'iai_maps' urdfName = 'kitchen_area' urdfSuffix = "" srdfSuffix = "" # Load robot and object. {{{3 robot = Robot ('pr2-box', 'pr2', rootJointType = "anchor") ps = ProblemSolver (robot) vf = ViewerFactory (ps) robot.setJointPosition ('pr2/base_joint', (-3.2, -4, 0, 1, 0, 0, 0)) vf.loadObjectModel (Box, 'box') vf.loadEnvironmentModel (Environment, "kitchen_area") robot.setJointBounds ("box/base_joint_xyz", [-3,-2,-5,-3,0.7,1]) # 3}}} # Define configurations. {{{3 q_init = robot.getCurrentConfig () rank = robot.rankInConfiguration ['pr2/r_gripper_l_finger_joint'] q_init [rank] = 0.5 rank = robot.rankInConfiguration ['pr2/r_gripper_r_finger_joint'] q_init [rank] = 0.5 rank = robot.rankInConfiguration ['pr2/l_gripper_l_finger_joint'] q_init [rank] = 0.5 rank = robot.rankInConfiguration ['pr2/l_gripper_r_finger_joint'] q_init [rank] = 0.5