def test_all_gripper():
grippers = [
PandaGripper(),
PR2Gripper(),
RethinkGripper(),
RobotiqGripper(),
RobotiqThreeFingerGripper(),
]
for gripper in grippers:
_test_gripper(gripper)
def two_finger_tester(render, total_iters=1, test_y=True):
gripper = RethinkGripper()
tester = GripperTester(
gripper=gripper,
pos="0 0 0.3",
quat="0 0 1 0",
gripper_low_pos=-0.07,
gripper_high_pos=0.02,
render=render,
)
tester.start_simulation()
tester.loop(total_iters=total_iters, test_y=test_y)
tester.close()
from robosuite.models.objects import BoxObject
from robosuite.utils.mjcf_utils import new_actuator, new_joint
if __name__ == "__main__":
# start with an empty world
world = MujocoWorldBase()
# add a table
arena = TableArena(table_full_size=(0.4, 0.4, 0.05),
table_offset=(0, 0, 0.1),
has_legs=False)
world.merge(arena)
# add a gripper
gripper = RethinkGripper()
# Create another body with a slider joint to which we'll add this gripper
gripper_body = ET.Element("body", name="gripper_base")
gripper_body.set("pos", "0 0 0.3")
gripper_body.set("quat", "0 0 1 0") # flip z
gripper_body.append(
new_joint(name="gripper_z_joint",
type="slide",
axis="0 0 1",
damping="50"))
# Add the dummy body with the joint to the global worldbody
world.worldbody.append(gripper_body)
# Merge the actual gripper as a child of the dummy body
world.merge(gripper, merge_body="gripper_base")
# Create a new actuator to control our slider joint
world.actuator.append(