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()