24 from openravepy
import *
50 gmodel = databases.grasping.GraspingModel(robot=self.
robot,target=self.
target)
51 print 'check if model can be loaded' 53 print 'need to autogenerate model' 66 while not robot.GetController().IsDone():
82 self.
taskmanip = interfaces.TaskManipulation(self.
robot,graspername=gmodel.grasper.plannername)
86 target = gmodel.target
88 while istartgrasp < len(gmodel.grasps):
89 goals,graspindex,searchtime,trajdata = self.
taskmanip.GraspPlanning(graspindices=gmodel.graspindices,grasps=gmodel.grasps[istartgrasp:],
90 target=target,approachoffset=approachoffset,destposes=dests,
91 seedgrasps = 3,seeddests=8,seedik=1,maxiter=1000,
92 randomgrasps=
True,randomdests=
True,outputtraj=
True,execute=
False)
93 istartgrasp = graspindex+1
96 Tglobalgrasp = gmodel.getGlobalGraspTransform(gmodel.grasps[graspindex],collisionfree=
True)
98 print 'grasp %d initial planning time: %f'%(graspindex,searchtime)
106 robot.ReleaseAllGrabbed()
118 def runGrasp(envId, robotName, targetName):
119 env = RaveGetEnvironment(envId)
120 robot = env.GetRobot(robotName)
121 target = env.GetKinBody(targetName)
125 print 'grasping object %s'%self.
target.GetName()
127 self.
robot.ReleaseAllGrabbed()
129 print 'success: ',success
131 except planning_error, e:
132 print 'failed to grasp object %s'%self.
target.GetName()
taskmanip
taskmanipulation problem/module
def __init__(self, robot, target)
Constructor.
gmodel
grasping model for given robot and target
Class to plan a grasp for a given robot and target.
envreal
environment to be used
def waitrobot(self, robot=None)
Wait for robot to complete action.
trajdata
stored trajectory for planned path
def graspObject(self)
Grasps an object.