def testStaticGraspExecution(self):
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.approachToContact()
GraspitCommander.autoGrasp()
result = GraspitCommander.computeQuality()
self.assertAlmostEqual(result.volume, 0.004336969, 4)
self.assertAlmostEqual(result.epsilon, 0.046997464, 4)
def testStaticGraspExecution(self):
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.approachToContact()
GraspitCommander.autoGrasp()
result = GraspitCommander.computeQuality()
self.assertAlmostEqual(result.volume, 0.004336969, 4)
self.assertAlmostEqual(result.epsilon, 0.046997464, 4)
def testDynamicGraspExecution(self):
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.approachToContact()
GraspitCommander.setDynamics(True)
self.assertTrue(GraspitCommander.getDynamics())
GraspitCommander.autoGrasp()
self.assertFalse(GraspitCommander.dynamicAutoGraspComplete())
while not GraspitCommander.dynamicAutoGraspComplete():
time.sleep(0.01)
self.assertTrue(GraspitCommander.dynamicAutoGraspComplete())
GraspitCommander.setDynamics(False)
result = GraspitCommander.computeQuality()
self.assertAlmostEqual(result.volume, 0.005218228, 4)
self.assertAlmostEqual(result.epsilon, 0.018258844, 4)
def testDynamicGraspExecution(self):
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.approachToContact()
GraspitCommander.setDynamics(True)
self.assertTrue(GraspitCommander.getDynamics())
GraspitCommander.autoGrasp()
self.assertFalse(GraspitCommander.dynamicAutoGraspComplete())
while not GraspitCommander.dynamicAutoGraspComplete():
time.sleep(0.01)
self.assertTrue(GraspitCommander.dynamicAutoGraspComplete())
GraspitCommander.setDynamics(False)
result = GraspitCommander.computeQuality()
self.assertAlmostEqual(result.volume, 0.005218228, 4)
self.assertAlmostEqual(result.epsilon, 0.018258844, 4)