Module ImportFrom alias Import alias Import alias identifier ImportFrom alias ImportFrom alias alias alias alias ImportFrom alias Assign NameStore Num Assign NameStore Num Assign NameStore BinOpMult Num AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad Num Num Assign NameStore BinOpAdd NameLoad Num Assign NameStore BinOpAdd BinOpAdd NameLoad Num Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad BinOpMult BinOpSub NameLoad NameLoad NameLoad BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpDiv NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad BinOpAdd NameLoad BinOpMult NameLoad SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad Num NameLoad BinOpAdd NameLoad Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad Num UnaryOpUSub NameLoad BinOpAdd NameLoad Num Assign NameStore ListLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str ListLoad Num Num BinOpSub NameLoad Num ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str NameLoad NameLoad NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad Str NameLoad NameLoad NameLoad keyword NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad Num ListLoad Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr Str attr Expr Call AttributeLoad NameLoad attr NameLoad For NameStore Call NameLoad Num body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpMod Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad BinOpDiv AttributeLoad NameLoad attr Num Num Num Assign SubscriptStore NameLoad ExtSlice Slice Num Index Num SubscriptLoad Call AttributeLoad NameLoad attr ExtSlice Slice Num Index Num Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr keyword Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr
N/A __future__ division N/A openravepy N/A numpy np lfd.environment.simulation DynamicSimulation lfd.environment.simulation_object XmlSimulationObject BoxSimulationObject RopeSimulationObject CylinderSimulationObject lfd.environment sim_util N/A table_height 0.77 N/A helix_ang0 0 N/A helix_ang1 N/A 4 N/A np pi N/A helix_radius 0.2 N/A helix_center N/A N/A np r_ N/A N/A 0.6 0 N/A helix_height0 N/A table_height 0.15 N/A helix_height1 N/A N/A table_height 0.15 0.3 N/A helix_length N/A N/A N/A np linalg norm N/A N/A np r_ N/A N/A N/A N/A helix_ang1 helix_ang0 helix_radius N/A helix_height1 helix_height0 N/A num N/A N/A np round N/A helix_length 0.02 N/A helix_angs N/A N/A np linspace helix_ang0 helix_ang1 num N/A helix_heights N/A N/A np linspace helix_height0 helix_height1 num N/A init_rope_nodes N/A N/A np c_ N/A N/A N/A helix_center N/A helix_radius N/A N/A np c_ N/A N/A N/A N/A np cos helix_angs N/A N/A np sin helix_angs helix_heights N/A rope_params N/A N/A sim_util RopeParams N/A cyl_radius 0.025 N/A cyl_height 0.3 N/A cyl_pos0 N/A N/A np r_ N/A N/A 0.6 helix_radius N/A table_height 0.25 N/A cyl_pos1 N/A N/A np r_ N/A N/A 0.6 N/A helix_radius N/A table_height 0.35 N/A sim_objs N/A N/A N/A N/A sim_objs append N/A XmlSimulationObject robots/pr2-beta-static.zae dynamic False N/A N/A N/A sim_objs append N/A BoxSimulationObject table N/A 1 0 N/A table_height 0.1 N/A 0.85 0.85 0.1 dynamic False N/A N/A N/A sim_objs append N/A RopeSimulationObject rope init_rope_nodes rope_params N/A N/A N/A sim_objs append N/A CylinderSimulationObject cyl0 cyl_pos0 cyl_radius cyl_height dynamic True N/A N/A N/A sim_objs append N/A CylinderSimulationObject cyl1 cyl_pos1 cyl_radius cyl_height dynamic True N/A sim N/A DynamicSimulation N/A N/A N/A sim add_objects sim_objs N/A N/A N/A sim create_viewer N/A N/A N/A N/A sim robot SetDOFValues N/A 0.25 N/A N/A N/A N/A N/A N/A sim robot GetJoint torso_lift_joint GetJointIndex N/A N/A N/A sim_util reset_arms_to_side sim N/A i N/A range 2 N/A N/A bt_cyl N/A N/A N/A sim bt_env GetObjectByName N/A cyl%d i N/A T N/A N/A openravepy matrixFromAxisAngle N/A N/A np array N/A N/A N/A np pi 2 0 0 N/A N/A T N/A N/A 3 N/A 3 N/A N/A N/A bt_cyl GetTransform N/A N/A 3 N/A 3 N/A N/A N/A bt_cyl SetTransform T N/A N/A N/A sim update N/A N/A N/A sim settle max_steps 1000 N/A N/A N/A N/A sim viewer Idle