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
