text: import os
  import database.dbaccess as db
  import pandaplotutils.pandactrl as pandactrl
  import manipulation.grip.yumiintegrated.yumiintegrated as yi
  import manipulation.grip.freegrip as freegrip
  import environment.collisionmodel as cm
  import environment.suitayuminotop as yumisetting
  
  if __name__=='__main__':
  
      base = pandactrl.World(camp=[2700, -2000, 2000], lookatpos=[0, 0, 500])
  
      _this_dir, _ = os.path.split(__file__)
      objpath = os.path.join(_this_dir, "objects", "tubelarge.stl")
  
      hndfa = yi.YumiIntegratedFactory()
      hnd = hndfa.genHand()
      fgplanner = freegrip.Freegrip(objpath, hnd, faceangle = .95, segangle = .95, refine1min=2, refine1max=30,
                   refine2radius=5, fpairparallel=-0.95, hmax=5, objmass = 5.0, bypasssoftfgr = True, togglebcdcdebug = False, useoverlap = True)
      objcm = cm.CollisionModel(objinit = objpath)
      objcm.reparentTo(base.render)
      objcm.setColor(.3,.3,.3,1)
  
      # toggle this part for automatic planning
      print("Planning...")
      fgplanner.planGrasps()
      gdb = db.GraspDB(database="yumi")
      print("Saving to database...")
      fgplanner.saveToDB(gdb)
  
      print("Loading from database...")
      fgdata = freegrip.FreegripDB(gdb, objcm.name, hnd.name)
      print("Plotting...")
      fgdata.plotHands(base.render, hndfa, rgba=(0,1,0,.3))
      base.run()