OpenRAVE Documentation

Source code for openravepy.examples.simplegrasping

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright (C) 2009-2011 Rosen Diankov (
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# See the License for the specific language governing permissions and
# limitations under the License.
"""Shows how to use the grasping.GraspingModel to compute valid grasps for manipulation.

.. examplepre-block:: simplegrasping


This type of example is suited for object geometries that are dynamically created from sensor data.

.. examplepost-block:: simplegrasping

from __future__ import with_statement # for python 2.5
__author__ = 'Rosen Diankov'

from itertools import izip
import openravepy
if not __openravepy_build_doc__:
    from openravepy import *
    from numpy import *

[docs]def main(env,options): "Main example code." env.Load(options.scene) robot = env.GetRobots()[0] if options.manipname is not None: robot.SetActiveManipulator(options.manipname) bodies = [b for b in env.GetBodies() if not b.IsRobot() and linalg.norm(b.ComputeAABB().extents()) < 0.2] target = bodies[random.randint(len(bodies))] print 'choosing target %s'%target ikmodel = databases.inversekinematics.InverseKinematicsModel(robot=robot,iktype=IkParameterization.Type.Transform6D) if not ikmodel.load(): ikmodel.autogenerate() gmodel = databases.grasping.GraspingModel(robot,target) if not gmodel.load(): print 'generating grasping model (one time computation)' gmodel.init(friction=0.4,avoidlinks=[]) gmodel.generate(approachrays=gmodel.computeBoxApproachRays(delta=0.04,normalanglerange=0)) returnnum = 5 print 'computing first %d valid grasps'%returnnum validgrasps,validindices = gmodel.computeValidGrasps(returnnum=returnnum) for validgrasp in validgrasps: gmodel.showgrasp(validgrasp) print 'choosing a random grasp and move to its preshape' basemanip = openravepy.interfaces.BaseManipulation(robot) with env: initialvalues = robot.GetDOFValues(gmodel.manip.GetArmIndices()) for validgrasp in random.permutation(validgrasps): try: gmodel.moveToPreshape(validgrasp) print 'move robot arm to grasp' Tgrasp = gmodel.getGlobalGraspTransform(validgrasp,collisionfree=True) basemanip.MoveToHandPosition(matrices=[Tgrasp]) break except planning_error,e: print 'try again: ',e robot.WaitForController(10) taskmanip = openravepy.interfaces.TaskManipulation(robot) taskmanip.CloseFingers() robot.WaitForController(10) with env: robot.Grab(target) raw_input('press any key to release') taskmanip.ReleaseFingers(target=target) robot.WaitForController(10) print 'initial values' basemanip.MoveManipulator(initialvalues) robot.WaitForController(10) print 'using the grasp iterator' with env: for validgrasp,validindex in gmodel.validGraspIterator(): gmodel.showgrasp(validgrasp,useik=True,collisionfree=True,delay=0.4)
from optparse import OptionParser from openravepy.misc import OpenRAVEGlobalArguments @openravepy.with_destroy
[docs]def run(args=None): """Command-line execution of the example. :param args: arguments for script to parse, if not specified will use sys.argv """ parser = OptionParser(description='Shows how to use the grasping.GraspingModel to compute valid grasps for manipulation.') OpenRAVEGlobalArguments.addOptions(parser) parser.add_option('--scene', action="store",type='string',dest='scene',default='data/wamtest1.env.xml', help='Scene file to load (default=%default)') parser.add_option('--manipname', action="store",type='string',dest='manipname',default=None, help='Choose the manipulator to perform the grasping for') (options, leftargs) = parser.parse_args(args=args) OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
if __name__ == "__main__": run()


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