Python GraspitCommander.loadWorld Examples

Example #1

File: graspit_test.py Project: masatoshichang/Humanoid-Robotics-Project-Dangerous-Goods-Handling-Robot

import grasp_execution
import grasp_execution_node

from graspit_commander import GraspitCommander

import graspit_interface.msg

from graspit_msgs.srv import *

import geometry_msgs
import actionlib

import rospy
from geometry_msgs.msg import PoseStamped, Point
GraspitCommander.loadWorld("test_grasp")
# GraspitCommander.importGraspableBody("/home/masatoshichang/models/doughnut4.ply")
GraspitCommander.importRobot('fetch_gripper')

print('doughnut')
grasp_output = GraspitCommander.planGrasps(max_steps=50000)

print(grasp_output)

unchecked_for_reachability_grasps = grasp_output.grasps

service_proxy = rospy.ServiceProxy("/world_manager/add_object",
                                   graspit_msgs.srv.AddObject)

object_pose = PoseStamped()
object_pose.pose.position = Point(2.75, 0, 0.58)

Example #2

File: grasp_quality_dataset.py Project: keithczq/GenerAL

import os
import time
import traceback

import numpy as np

from graspit_commander import GraspitCommander
from utils import gen_example

GraspitCommander.clearWorld()
# GraspitCommander.loadWorld("barrettTactileGlassDyn")
GraspitCommander.loadWorld("plannerMugTactile")

save_dir = os.path.expanduser('~/Desktop/critic_image_dataset')

batch_size = 10000

while True:
    states = []
    values = []
    images = []
    count = 0
    while count < batch_size:
        try:
            state, value, image = gen_example(GraspitCommander)
            states.append(state)
            values.append(value)
            images.append(image)
            count += 1
            print(count, batch_size)
        except:

Example #3

File: grasp_controller.py Project: GraspControl/grasp_controller

from graspit_commander import GraspitCommander

import time

if __name__ == "__main__":
    GraspitCommander.clearWorld()
    GraspitCommander.loadWorld("plannerMug")

    GraspitCommander.approachToContact()

    GraspitCommander.setDynamics(True)
    GraspitCommander.setDynamics(False)
    GraspitCommander.toggleDynamicsController(False)
    
    while not GraspitCommander.dynamicAutoGraspComplete():
        r = GraspitCommander.getRobot(0)
        print r.robot.dofs
        GraspitCommander.setRobotDOFForces([0, 100000000, 100000000, 100000000])
        GraspitCommander.stepDynamics(1)


    r = GraspitCommander.getRobot(0)
    dofs = list(r.robot.dofs)

    for i in range(len(dofs)):
        dofs[i] -= 0.01

    GraspitCommander.toggleAllCollisions(False)
    GraspitCommander.autoOpen(0)
    GraspitCommander.approachToContact(-10)
    GraspitCommander.toggleAllCollisions(True)

Example #4

File: grasp_quality.py Project: edessa/Grasp-Metrics

gc.autoOpen()


Openrave Transform:
>>> T
array([[1.   , 0.   , 0.   , 0.   ],
       [0.   , 1.   , 0.   , 0.   ],
       [0.   , 0.   , 1.   , 0.117],
       [0.   , 0.   , 0.   , 1.   ]])

Graspit Transform:

openrave apply 180 roll to hand

import time
gc.loadWorld("plannerMug")

gc.approachToContact()
gc.setDynamics(True)
gc.autoGrasp()
while not gc.dynamicAutoGraspComplete():
    time.sleep(0.01)

gc.setDynamics(False)
result = gc.computeQuality()

gc.setDynamics(False)
gc.toggleDynamicsController(False)

while not gc.dynamicAutoGraspComplete():
    r = gc.getRobot(0)