def load_world():
# TODO: store internal world info here to be reloaded
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF)
#add_data_path()
#robot = load_pybullet(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
celery = load_model(BLOCK_URDF, fixed_base=False)
radish = load_model(SMALL_BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf',
# Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
celery: 'celery',
radish: 'radish',
}
movable_bodies = [celery, radish]
set_pose(celery, Pose(Point(y=0.5, z=stable_z(celery, floor))))
set_pose(radish, Pose(Point(y=-0.5, z=stable_z(radish, floor))))
set_default_camera()
return robot, body_names, movable_bodies
def load_world():
# TODO: store internal world info here to be reloaded
set_default_camera()
draw_global_system()
with HideOutput():
#add_data_path()
robot = load_model(DRAKE_IIWA_URDF, fixed_base=True) # DRAKE_IIWA_URDF | KUKA_IIWA_URDF
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
celery = load_model(BLOCK_URDF, fixed_base=False)
radish = load_model(SMALL_BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf',
# Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
draw_pose(Pose(), parent=robot, parent_link=get_tool_link(robot)) # TODO: not working
# dump_body(robot)
# wait_for_user()
body_names = {
sink: 'sink',
stove: 'stove',
celery: 'celery',
radish: 'radish',
}
movable_bodies = [celery, radish]
set_pose(celery, Pose(Point(y=0.5, z=stable_z(celery, floor))))
set_pose(radish, Pose(Point(y=-0.5, z=stable_z(radish, floor))))
return robot, body_names, movable_bodies
def load_world():
# TODO: store internal world info here to be reloaded
with HideOutput():
robot = load_model(DRAKE_IIWA_URDF)
# robot = load_model(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
block = load_model(BLOCK_URDF, fixed_base=False)
block1 = load_model(BLOCK_URDF, fixed_base=False)
block2 = load_model(BLOCK_URDF, fixed_base=False)
block3 = load_model(BLOCK_URDF, fixed_base=False)
block4 = load_model(BLOCK_URDF, fixed_base=False)
block5 = load_model(BLOCK_URDF, fixed_base=False)
block6 = load_model(BLOCK_URDF, fixed_base=False)
block7 = load_model(BLOCK_URDF, fixed_base=False)
block8 = load_model(BLOCK_URDF, fixed_base=False)
cup = load_model(
'models/cup.urdf', #'models/dinnerware/cup/cup_small.urdf'
fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
block: 'celery',
cup: 'cup',
}
movable_bodies = [
block, cup, block1, block2, block3, block4, block5, block6, block7,
block8
]
set_pose(block, Pose(Point(x=0.1, y=0.5, z=stable_z(block, floor))))
set_pose(block1, Pose(Point(x=-0.1, y=0.5, z=stable_z(block1, floor))))
set_pose(block2, Pose(Point(y=0.35, z=stable_z(block2, floor))))
set_pose(block3, Pose(Point(y=0.65, z=stable_z(block3, floor))))
set_pose(block4, Pose(Point(x=0.1, y=0.65, z=stable_z(block4, floor))))
set_pose(block5, Pose(Point(x=-0.1, y=0.65, z=stable_z(block5, floor))))
set_pose(block6, Pose(Point(x=0.1, y=0.35, z=stable_z(block6, floor))))
set_pose(block7, Pose(Point(x=-0.1, y=0.35, z=stable_z(block7, floor))))
set_pose(block8, Pose(Point(x=0, y=0.5, z=0.45)))
set_pose(cup, Pose(Point(y=0.5, z=stable_z(cup, floor))))
set_default_camera()
return robot, body_names, movable_bodies
def load_world():
# TODO: store internal world info here to be reloaded
robot = load_model(DRAKE_IIWA_URDF)
# robot = load_model(KUKA_IIWA_URDF)
floor = load_model('models/short_floor.urdf')
sink = load_model(SINK_URDF, pose=Pose(Point(x=-0.5)))
stove = load_model(STOVE_URDF, pose=Pose(Point(x=+0.5)))
block = load_model(BLOCK_URDF, fixed_base=False)
#cup = load_model('models/dinnerware/cup/cup_small.urdf', Pose(Point(x=+0.5, y=+0.5, z=0.5)), fixed_base=False)
body_names = {
sink: 'sink',
stove: 'stove',
block: 'celery',
}
movable_bodies = [block]
set_pose(block, Pose(Point(y=0.5, z=stable_z(block, floor))))
set_default_camera()
return robot, body_names, movable_bodies