def __init__(self,env,youbots):
self.env = env
self.youbots = youbots
yik.init(youbots[youbots.keys()[0]]) # does not matter which robot we use to initialize since all youbots have same kinematics.
self.iktimes = [] # TODO remove
self.collchecktimes = [] # TODO remove
self.ngraspstried = 0
self.nconfigstried = 0
self.asm_grasps = []
self.asm_grasp_scores = []
self.grasp_grid_translational_resolution = 0.05
self.grasp_grid_rotational_resolution = np.pi/9.0
def __init__(self, env, youbots):
self.env = env
self.youbots = youbots
yik.init(
youbots[youbots.keys()[0]]
) # does not matter which robot we use to initialize since all youbots have same kinematics.
self.iktimes = [] # TODO remove
self.collchecktimes = [] # TODO remove
self.ngraspstried = 0
self.nconfigstried = 0
self.asm_grasps = []
self.asm_grasp_scores = []
self.grasp_grid_translational_resolution = 0.05
self.grasp_grid_rotational_resolution = np.pi / 9.0
import CollisionConstraints
import BusRide
from chairenv import *
#from pictureenv import *
#from wingdemoenv import *
youbotenv = youbotpy.YoubotEnv(sim=True,viewer=True,env_xml=envfile, \
youbot_names=all_robot_names)
env = youbotenv.env
youbots = youbotenv.youbots
for name in youbots:
youbots[name].SetTransform(robot_start_poses[name])
youbotenv.MoveGripper(name, 0.01, 0.01) # open grippers
yik.init(youbots[youbots.keys()[0]]) # does not matter which robot
# we use to initialize since
# all youbots have same kinematics.
grasp_generator = GraspGenerator.GraspGenerator(env)
for part in all_parts:
part.body = env.GetKinBody(part.name)
part.SetGrasps(grasp_generator.GeneratePartGrasps(part))
#IPython.embed()
def ComputeExtendedBusRide(assembly_operations, busride):
# TODO return None if fastener is in the busride
extended_busride = {}
for asm_op in assembly_operations:
import CollisionConstraints
import BusRide
from chairenv import *
#from pictureenv import *
#from wingdemoenv import *
youbotenv = youbotpy.YoubotEnv(sim=True,viewer=True,env_xml=envfile, \
youbot_names=all_robot_names)
env = youbotenv.env
youbots = youbotenv.youbots
for name in youbots:
youbots[name].SetTransform(robot_start_poses[name])
youbotenv.MoveGripper(name,0.01,0.01) # open grippers
yik.init(youbots[youbots.keys()[0]]) # does not matter which robot
# we use to initialize since
# all youbots have same kinematics.
grasp_generator = GraspGenerator.GraspGenerator(env)
for part in all_parts:
part.body = env.GetKinBody(part.name)
part.SetGrasps(grasp_generator.GeneratePartGrasps(part))
#IPython.embed()
def ComputeExtendedBusRide(assembly_operations,busride):
# TODO return None if fastener is in the busride
extended_busride = {}
for asm_op in assembly_operations:
extended_busride[asm_op.name] = []
def __init__(self,env,youbots):
self.env = env
self.youbots = youbots
yik.init(youbots[youbots.keys()[0]]) # does not matter which robot we use to initialize since all youbots have same kinematics.
