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(