def save(env, problem_fn):
while True:
env.Reset()
problem = problem_fn(env)
problem_name = raw_input('Save problem?\n')
if problem_name != '': break
problem.name = problem_name
problem.env_file = ENV_FORMAT%problem_name
env_file = GENERATED_DIR + problem.env_file
env.Save(env_file, Environment.SelectionOptions.Everything) #https://github.com/rdiankov/openrave/blob/master/test/test_collada.py
print 'Saved', env_file
problem_file = GENERATED_DIR + PROBLEM_FORMAT%problem_name
write_pickle(problem_file, problem)
print 'Saved', problem_file
def save_custom_ir(robot, ir_database): filename = FILENAME%get_ir_hash(robot) write_pickle(filename, ir_database) if DEBUG: print 'Saved', filename