def sample_grasps(graspable, gripper, config):
""" Sample grasps and compute metrics for given object, gripper, and stable pose """
# create grasp sampler)
if config['grasp_sampler'] == 'antipodal':
sampler = gs.AntipodalGraspSampler(gripper, config)
elif config['grasp_sampler'] == 'mesh_antipodal':
sampler = gs.MeshAntipodalGraspSampler(gripper, config)
elif config['grasp_sampler'] == 'gaussian':
sampler = gs.GaussianGraspSampler(gripper, config)
elif config['grasp_sampler'] == 'uniform':
sampler = gs.UniformGraspSampler(gripper, config)
# sample grasps
grasps = sampler.generate_grasps(graspable, max_iter=config['max_grasp_sampling_iters'])
return grasps
def _single_obj_grasps(dataset, obj, gripper, config, stable_pose_id=None):
""" Sample grasps and compute metrics for given object, gripper, and stable pose """
# create grasp sampler
logger.info('Sampling grasps')
if config['grasp_sampler'] == 'antipodal':
sampler = gs.AntipodalGraspSampler(gripper, config)
elif config['grasp_sampler'] == 'gaussian':
sampler = gs.GaussianGraspSampler(gripper, config)
elif config['grasp_sampler'] == 'uniform':
sampler = gs.UniformGraspSampler(gripper, config)
# sample grasps
grasps = sampler.generate_grasps(
obj, max_iter=config['max_grasp_sampling_iters'])
return grasps