Python Grasping 예제들

예제 #1

                    cubeStartOrientation,
                    useFixedBase=1)

print("Number of joints in the Frankenstein: " + str(p.getNumJoints(TheArm)))

for joint_index in range(0, p.getNumJoints(TheArm)):
    print()
    info = p.getJointInfo(TheArm, joint_index)
    print("Joint index: " + str(info[0]))
    print("Joint name: " + str(info[1]))
    print("Joint type: " + str(info[2]))
    print()

#G = Grasp(p,TheArm)
#G.stiffFingerClosePosition(90)

G = Grasp(p, TheArm)
G.spreadFingers(45)

#'closing hand'
#p.setJointMotorControl2(bodyUniqueId=TheArm, jointIndex=11, controlMode=p.POSITION_CONTROL, targetPosition = 3,maxVelocity = 1)
#p.setJointMotorControl2(bodyUniqueId=TheArm, jointIndex=17, controlMode=p.POSITION_CONTROL, targetPosition = 3,maxVelocity = 1)
#p.setJointMotorControl2(bodyUniqueId=TheArm, jointIndex=22, controlMode=p.POSITION_CONTROL, targetPosition = 3,maxVelocity = 1)

#'spreading fingers'
#p.setJointMotorControl2(bodyUniqueId=TheArm, jointIndex=10, controlMode=p.POSITION_CONTROL, targetPosition = 3,maxVelocity = 1)
#p.setJointMotorControl2(bodyUniqueId=TheArm, jointIndex=16, controlMode=p.POSITION_CONTROL, targetPosition = 3,maxVelocity = 1)

p.setRealTimeSimulation(1)

time.sleep(10)

예제 #2

#Load-in a plane
planeId = p.loadURDF("plane.urdf")

cubeStartPos = [0,0,0]
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
#TheArm = p.loadURDF("Models/Frankenstein/FrankensteinV2.urdf",cubeStartPos, cubeStartOrientation,useFixedBase = 1)
TheArm = p.loadURDF("Models/Frankenstein/new/FrankensteinV3.urdf",cubeStartPos, cubeStartOrientation, useFixedBase = 1)

cubeStartPos = [0.5, 0, 0.2]
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
Obj4 = p.loadURDF("Models/PhysicsTesting/small_sphere.urdf",cubeStartPos, cubeStartOrientation, useFixedBase = 1)

    
#Grasping class
G = Grasp(p,TheArm)
I = Interface.Interface()
AC = ArmController(p,TheArm)


#Run the simulation
for i in range (0,200000):
    if i % 100 == 0:
        print("Step" + str(i))
    AC.IKiteration([0.5,0.3,0.5], p.getQuaternionFromEuler([1.57,0,0]), i, 0,500)
    AC.IKiteration([0.7,0.3,0.2], p.getQuaternionFromEuler([1.57,0,0]), i, 500,1000)
    AC.IKiteration([0.5,0.2,0.2], p.getQuaternionFromEuler([1.57,0,0]), i, 1000,1500)
    AC.IKiteration([0.5,0.1,0.2], p.getQuaternionFromEuler([1.57,0,0]), i, 1500,2000)
    AC.IKiteration([0.5,0.02,0.2], p.getQuaternionFromEuler([1.57,0,0]), i, 2000,2500)
    if i == 2500:
        AC.frankaJointsLock()

예제 #3

파일: Results4_AutoTask_MVP.py 프로젝트: Grzegorr/ML-Slip-Project-PyBullet

                    useFixedBase=1)

cubeStartPos = [0.5, 0, 0]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
table = p.loadURDF("Models/PhysicsTesting/table.urdf",
                   cubeStartPos,
                   cubeStartOrientation,
                   useFixedBase=1)

cubeStartPos = [0.5, 0, 0.27]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
payload = p.loadURDF("Models/PhysicsTesting/cylinder.urdf", cubeStartPos,
                     cubeStartOrientation)

#Grasping class
G = Grasp(p, TheArm)
I = Interface.Interface()
AC = ArmController(p, TheArm)
S = Stats()
G.lockSpreadFingersJoints()

#Run the simulation
for i in range(0, 24000):
    if i % 100 == 0:
        print("Step" + str(i))

    AC.GrabbingSequence(i, 0, G)
    AC.runSeriesOfIKTasks(i, task)

    allStatsHandling()
    p.stepSimulation()

예제 #4

파일: Results3_Task_MVP.py 프로젝트: Grzegorr/ML-Slip-Project-PyBullet

cubeStartPos = [0.5, 0, 0]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
#TheArm = p.loadURDF("Models/Frankenstein/FrankensteinV2.urdf",cubeStartPos, cubeStartOrientation,useFixedBase = 1)
table = p.loadURDF("Models/PhysicsTesting/table.urdf",
                   cubeStartPos,
                   cubeStartOrientation,
                   useFixedBase=1)

cubeStartPos = [0.5, 0, 0.27]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
#TheArm = p.loadURDF("Models/Frankenstein/FrankensteinV2.urdf",cubeStartPos, cubeStartOrientation,useFixedBase = 1)
payload = p.loadURDF("Models/PhysicsTesting/cylinder.urdf", cubeStartPos,
                     cubeStartOrientation)

#Grasping class
G = Grasp(p, TheArm)
I = Interface.Interface()
AC = ArmController(p, TheArm)
S = Stats()
G.lockSpreadFingersJoints()

#Run the simulation
for i in range(0, 240000):
    if i % 100 == 0:
        print("Step" + str(i))
    AC.IKiteration([0.5, 0.3, 0.5], p.getQuaternionFromEuler([1.57, 0, 0]), i,
                   0, 500)
    AC.IKiteration([0.7, 0.3, 0.3], p.getQuaternionFromEuler([1.57, 0, 0]), i,
                   500, 1000)
    AC.IKiteration([0.5, 0.2, 0.3], p.getQuaternionFromEuler([1.57, 0, 0]), i,
                   1000, 1500)

예제 #5

파일: Results5_MultipleTasks_MVP.py 프로젝트: Grzegorr/ML-Slip-Project-PyBullet

                    useFixedBase=1)

cubeStartPos = [0.5, 0, -0.1]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
table = p.loadURDF("Models/PhysicsTesting/table.urdf",
                   cubeStartPos,
                   cubeStartOrientation,
                   useFixedBase=1)

cubeStartPos = [0.5, 0, 0.17]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
payload = p.loadURDF("Models/PhysicsTesting/cylinder.urdf", cubeStartPos,
                     cubeStartOrientation)

#Grasping class
G = Grasp(p, TheArm)
#I = Interface.Interface()
AC = ArmController(p, TheArm)
S = Stats()
G.lockSpreadFingersJoints()
czas = KC()
i = 0
iteration = 0
#logging = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"rec.MP4")

#Run the simulation
while (i in range(0, 24000)):
    if i % 1000 == 0:
        print("Iteration: " + str(iteration) + ", Step: " + str(i))

    AC.GrabbingSequence(i, 0, G)