test_save_gripper

1 Basic Functionality

• Save the gripper after driving it as a model in OBJ format.

2 Implementation Process

2.1 Initialize Environment

env = RFUniverseBaseEnv(assets=["allegro_hand_right"])

2.2 Set Gripper State

bhand = env.InstanceObject("allegro_hand_right", attr_type=attr.ControllerAttr)
env.step(5)
moveable_joint_count = bhand.data["number_of_moveable_joints"]
print(f"moveable_joint_count:{moveable_joint_count}")
bhand.SetJointPositionDirectly([30 for _ in range(moveable_joint_count)])
env.step(5)

• SetJointPositionDirectly: Sets the position for each joint and moves it directly.

2.3 Save Gripper State

env.ExportOBJ([bhand.id], os.path.abspath("../Mesh/gripper_mesh.obj"))

• ExportOBJ: Saves the specified object as an OBJ format file.