From 52adf0d91f4312d764f7bafa89b1b0c9b5cd3e8d Mon Sep 17 00:00:00 2001 From: Xinsong Lin Date: Fri, 19 Apr 2024 17:20:03 -0700 Subject: [PATCH] remove commented out test code --- mplib/examples/collision_avoidance.py | 22 ---------------------- 1 file changed, 22 deletions(-) diff --git a/mplib/examples/collision_avoidance.py b/mplib/examples/collision_avoidance.py index 1d2d05a..695817e 100644 --- a/mplib/examples/collision_avoidance.py +++ b/mplib/examples/collision_avoidance.py @@ -58,28 +58,6 @@ def __init__(self): planning_world = SapienPlanningWorld(self.scene, [self.robot]) self.planner = SapienPlanner(planning_world, "panda_hand") - # self.planner.IK( - # goal_pose=Pose([0.7, 0, 0.32], [0, 1, 0, 0]), - # start_qpos=np.array([0, 0.19, 0.0, -2.61, 0.0, 2.94, 0.78, 0, 0]), - # verbose=True, - # ) - # # self.setup_planner( - # # urdf_path="./data/panda/panda.urdf", srdf_path="./data/panda/panda.srdf" - # # ) - # # self.planner.robot.set_qpos(init_qpos, full=True) - # # for obj in self.planner.robot.get_fcl_model().get_collision_objects(): - # # print(obj.name, obj.pose) - # # for i, link in enumerate( - # # self.planner.robot.get_pinocchio_model().get_link_names() - # # ): - # # print(link, self.planner.robot.get_pinocchio_model().get_link_pose(i)) - # # for obj in self.planner2.robot.get_fcl_model().get_collision_objects(): - # # print(obj.name, obj.pose) - # # for i, link in enumerate( - # # self.planner2.robot.get_pinocchio_model().get_link_names() - # # ): - # # print(link, self.planner2.robot.get_pinocchio_model().get_link_pose(i)) - # exit(0) def demo(self, with_screw=True, use_attach=True): """