console.py

#!/usr/bin/env python
"""
Provides a simple console that sets up basic functionality for 
using herbpy and openravepy.
"""

import os
if os.environ.get('ROS_DISTRO', 'hydro')[0] <= 'f':
    import roslib
    roslib.load_manifest('herbpy')

import argparse, herbpy, logging, numpy, openravepy, sys

if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='utility script for loading HerbPy')
    parser.add_argument('-s', '--sim', action='store_true',
                        help='simulation mode')
    parser.add_argument('-v', '--viewer', nargs='?', const=True,
                        help='attach a viewer of the specified type')
    parser.add_argument('--robot-xml', type=str,
                        help='robot XML file; defaults to herb_description')
    parser.add_argument('--env-xml', type=str,
                        help='environment XML file; defaults to an empty environment')
    parser.add_argument('-b', '--segway-sim', action='store_true',
                        help='simulate base')
    parser.add_argument('-p', '--perception-sim', action='store_true',
                        help='simulate perception')
    parser.add_argument('--debug', action='store_true',
                        help='enable debug logging')
    args = parser.parse_args()

    openravepy.RaveInitialize(True)
    openravepy.misc.InitOpenRAVELogging()

    if args.debug:
        openravepy.RaveSetDebugLevel(openravepy.DebugLevel.Debug)

    herbpy_args = {'sim':args.sim,
                   'attach_viewer':args.viewer,
                   'robot_xml':args.robot_xml,
                   'env_path':args.env_xml,
                   'segway_sim':args.segway_sim,
                   'perception_sim': args.perception_sim}
    if args.sim and not args.segway_sim:
        herbpy_args['segway_sim'] = args.sim
    
    env, robot = herbpy.initialize(**herbpy_args)

    import IPython
    IPython.embed()