def test_move_gripper(self): sim = Simulator(gui=True, debug=False, use_egl=False) sim.add_gripper('../simulator/gripper.urdf') sim.load('../simulator/data/cube_small.urdf') pos = [0, 0, 0.05] # pos = [0, 0, 0.02] pose = np.append(pos, np.radians([0, 0, 0])) sim.run(epochs=240) sim.set_gripper_width(0.07) sim.move_gripper_to(pose, angvel=4, linvel=0.6) sim.close_gripper() pose[2] = 0.5 sim.move_gripper_to(pose, angvel=4, linvel=0.6) sim.run(epochs=500)
def test_close_gripper(self): sim = Simulator(gui=True, use_egl=False) sim.add_gripper('../simulator/gripper.urdf') sim.run(epochs=100) result = sim.close_gripper()