Python grab Examples

Example #1

File: move_push.py Project: beomjoonkim/openrave_repo

 def execute(self, oracle):
   EXECUTE_TRAJECTORIES(SMOOTH_TRAJECTORIES(self.base_trajs))
   EXECUTE_TRAJECTORIES(self.push.start_trajs)
   grab(oracle, self.object_name)
   EXECUTE_TRAJECTORIES([self.push.push_traj])
   release(oracle, self.object_name)
   EXECUTE_TRAJECTORIES(self.push.end_trajs)

Example #2

File: move_pick.py Project: beomjoonkim/openrave_repo

 def step(self, oracle):
   oracle.set_robot_config(self.pap.approach_config)
   yield
   oracle.set_robot_config(self.pap.grasp_config)
   set_gripper(oracle, self.pap.grasp)
   grab(oracle, self.object_name)
   yield
   oracle.set_robot_config(self.pap.approach_config)
   yield

Example #3

File: move_push.py Project: beomjoonkim/openrave_repo

 def step(self, oracle):
   oracle.set_robot_config(self.push.approach_config)
   yield
   oracle.set_robot_config(self.push.start_contact_config)
   grab(oracle, self.object_name)
   yield
   oracle.set_robot_config(self.push.end_contact_config)
   release(oracle, self.object_name)
   yield
   oracle.set_robot_config(self.push.approach_config)
   yield

Example #4

File: execute.py Project: lukeshimanuki/guiding_gtamp_light

 def step(self, oracle):
     oracle.set_robot_config(self.pap.approach_config)
     yield
     if STEP_VECTOR:
         oracle.set_robot_config(self.pap.vector_config)
         yield
     oracle.set_robot_config(self.pap.grasp_config)
     set_gripper(oracle, self.pap.grasp)
     grab(oracle, self.object_name)
     yield
     if STEP_VECTOR:
         oracle.set_robot_config(self.pap.vector_config)
         yield
     oracle.set_robot_config(self.pap.approach_config)
     yield

Example #5

File: multi_query.py Project: beomjoonkim/openrave_repo

def plan_base_traj(oracle, start_config, end_config, holding=None, obstacle_poses={}):
  with oracle.state_saver():
    oracle.set_all_object_poses(obstacle_poses)
    oracle.set_robot_config(end_config)
    base_trans = get_trans(oracle.robot)

    oracle.set_robot_config(start_config)
    open_gripper(oracle)
    if holding is not None:
      oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, start_config, holding.grasp))
      grab(oracle, holding.object_name)
    traj = cspace_traj(oracle, CSpace.robot_base(oracle.robot), base_values_from_trans(base_trans))
    if holding is not None:
      release(oracle, holding.object_name)
  return traj

Example #6

def plan_base_traj(oracle, start_config, end_config, holding=None, obstacle_poses={}):
  with oracle.state_saver():
    oracle.set_all_object_poses(obstacle_poses)
    oracle.set_robot_config(end_config)
    base_trans = get_trans(oracle.robot)

    oracle.set_robot_config(start_config)
    open_gripper(oracle)
    if holding is not None:
      oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, start_config, holding.grasp))
      grab(oracle, holding.object_name)
    traj = cspace_traj(oracle, CSpace.robot_base(oracle.robot), base_values_from_trans(base_trans))
    if holding is not None:
      release(oracle, holding.object_name)
  return traj

Example #7

File: execute.py Project: lukeshimanuki/guiding_gtamp_light

 def execute(self, oracle):
     EXECUTE_TRAJECTORIES(SMOOTH_TRAJECTORIES(self.base_trajs))
     EXECUTE_TRAJECTORIES(reverse_trajectories(self.pap.trajs))
     self.pap.grasp.gripper_traj.execute()
     grab(oracle, self.object_name)
     EXECUTE_TRAJECTORIES(self.pap.trajs)

Example #8

File: move_pick.py Project: beomjoonkim/openrave_repo

 def execute(self, oracle):
   EXECUTE_TRAJECTORIES(SMOOTH_TRAJECTORIES(self.base_trajs))
   EXECUTE_TRAJECTORIES(reverse_trajectories(self.pap.trajs))
   self.pap.grasp.gripper_traj.execute()
   grab(oracle, self.object_name)
   EXECUTE_TRAJECTORIES(self.pap.trajs)