def __init__(self):
self.gcc = None
self.dn = dexnet.DexNet()
self.dn.open_database(DEX_NET_PATH + DB_NAME, create_db=True)
self.dn.open_dataset('3dnet')
self.gripper_name = GRIPPER_NAME
self.gripper = dexnet.grasping.gripper.RobotGripper.load(
GRIPPER_NAME, DEX_NET_PATH + GRIPPER_REL_PATH)
self.gripper_rotation = [1, 0, 0, 0]
self.cc_approach_dist = 1.0
self.cc_delta_approach = 0.1 # may need tuning
def __init__(self):
# init core members
self.dexnet_api = dexnet.DexNet()
# setup command line parsing
self.comp = Completer()
readline.set_completer_delims(' \t\n;')
readline.parse_and_bind("tab: complete")
readline.set_completer(self.comp.complete)
# display welcome message
self.display_welcome()
import matplotlib.ticker as ticker
import dexnet
DEX_NET_PATH = '../dex-net/'
DB_NAME = 'dexnet_2.hdf5'
GRIPPER_NAME = 'yumi_metal_spline'
GRIPPER_REL_PATH = 'data/grippers/'
GRASP_METRIC = 'ferrari_canny'
scene = Scene(show_gui=False)
scene_pop = ScenePopulator(scene)
total_grasps = 0
metrics_all = []
dn = dexnet.DexNet()
dn.open_database(DEX_NET_PATH + DB_NAME, create_db=True)
dn.open_dataset('3dnet')
for item_name in scene_pop.item_database:
grasps, metrics = dn.get_grasps(item_name, GRIPPER_NAME, GRASP_METRIC)
l = len(grasps)
print "num_grasps: " + str(l) + " ---" + "max: " + str(
metrics[0]) + " ---min: " + str(metrics[-1]) + " ---" + item_name
total_grasps += l
metrics_all += metrics
print "total grasps: " + str(total_grasps)
print "mean: " + str(np.mean(metrics_all))
print "median: " + str(np.median(metrics_all))
@author: pyni
"""
import numpy as np
import pybullet as p
import random as rd
import os
from collision_checker_independent import GraspCollisionChecker
openravechecker = GraspCollisionChecker(view=False)
import dexnet
path_of_stl_file = '/media/yuan/pyni/20190410/dexnet/dex-net/data/p_pybullet/'
path_of_tmp_file = '/media/yuan/pyni/20190410/dexnet/dex-net/apps/'
path_of_pickle_file = '/media/yuan/pyni/20190410/dexnet/'
datasetpath = path_of_tmp_file + str(rd.random()) + 'temp_database.hdf5'
dexnet_api = dexnet.DexNet()
try:
dexnet_api.open_database(datasetpath)
except:
pass
try:
dexnet_api.open_dataset('tmp')
except:
pass
dexnet_api.setpath(path_of_pickle_file)
dexnet_api.add_object(path_of_stl_file + '009_gelatin_box.stl', fast=True)
dexnet_api.showgraspfrompickle('009_gelatin_box', 'ferrari_canny', False,
False, openravechecker)
#dexnet_api.showgraspfrompicklewithcandidate ( '009_gelatin_box', 'ferrari_canny', False , True ,openravechecker)