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I am trying to use python with openrave to query a position and alternatively position and orientation to get the joint values. Then I will use those values with the driver interface to command the robot.
First, I do not want to load anything like a scene or model. Based on the tutorials and examples, the only way to load the robot I can find is using env.Load('kuka-youbot-hires.zae') then robot = env.GetRobots(). This already opens the viewer. How can I load it without the viewer?
Second, based on the IKTranslation tutorial, the ikmodel does not load, and so it does the autogenerate(), which takes almost 10 minutes. I had seen the link to 'compile' the cpp generated file for windows, but can not find any tutorial on how to use it on linux or in the python code.
I am hoping I am missing something simple, but not sure what. Could someone point me in the right direction, or if there is example code of using a zae file in python to get kinematics results.