Scene used in the grasping module

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Scene used in the grasping module

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I want to work on the grasping problem alone and want to neglect the manipulator for now. I wanted to perform something similar to

 I don't want to parse it via the terminal and want to use the python API for scripting. To start with I'm not able to load the 'scene' used in the aforementioned link. I went through the code but I was unable to find it. Can someone tell me what scene was loaded? Also is there anything else I'm missing out.