test_grasp_pose

1 Basic Features

Display preview of Franka two-finger gripper’s grasp pose

2 Implementation Process

2.1 Data Preprocessing

mesh_path = "../Mesh/drink1/drink1.obj"
pose_path = "../Mesh/drink1/grasps_rfu.csv"

data = pd.read_csv(pose_path, usecols=["x", "y", "z", "qx", "qy", "qz", "qw"])
data = data.to_numpy()
positions = data[:, 0:3].reshape(-1).tolist()
quaternions = data[:, 3:7].reshape(-1).tolist()

Import the required mesh and pose data, and preprocess it

2.2 Environment Initialization

env = RFUniverseBaseEnv(ext_attr=[GraspSimAttr])

2.3 Display Preview of Franka Two-Finger Gripper Grasp Pose

grasp_sim = env.InstanceObject(id=123123, name="GraspSim", attr_type=GraspSimAttr)
grasp_sim.ShowGraspPose(
    mesh=os.path.abspath(mesh_path),
    gripper="SimpleFrankaGripper",
    positions=positions,
    quaternions=quaternions,
)

env.Pend()
env.close()

InstanceObject for instantiating a GraspSim object
ShowGraspPose for displaying the grasp pose preview, where:
- mesh parameter is the absolute path of the .obj file
- gripper parameter is the name of the gripper
- positions parameter is a list of coordinates for the grasp points
- quaternions parameter is for representing rotation using quaternions