test_simulation.py
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00001 #!/usr/bin/python
00002 #################################################################
00003 ##\file
00004 #
00005 # \note
00006 #   Copyright (c) 2012 \n
00007 #   Robotnik Automation SLL \n\n
00008 #
00009 #################################################################
00010 #
00011 # \note
00012 #   Project name: srs
00013 # \note
00014 #   ROS stack name: srs_public
00015 # \note
00016 #   ROS package name: srs_grasping
00017 #
00018 # \author
00019 #   Author: Manuel Rodriguez, email:mrodriguez@robotnik.es
00020 # \author
00021 #   Supervised by: Manuel Rodriguez, email:mrodriguez@robotnik.es
00022 #
00023 # \date Date of creation: March 2012
00024 #
00025 # \brief
00026 #   Implements the simulation for the precomputed grasps. 
00027 #
00028 #################################################################
00029 #
00030 # Redistribution and use in source and binary forms, with or without
00031 # modification, are permitted provided that the following conditions are met:
00032 #
00033 #     - Redistributions of source code must retain the above copyright
00034 #       notice, this list of conditions and the following disclaimer. \n
00035 #     - Redistributions in binary form must reproduce the above copyright
00036 #       notice, this list of conditions and the following disclaimer in the
00037 #       documentation and/or other materials provided with the distribution. \n
00038 #     - Neither the name of the Robotnik Automation SLL nor the names of its
00039 #       contributors may be used to endorse or promote products derived from
00040 #       this software without specific prior written permission. \n
00041 #
00042 # This program is free software: you can redistribute it and/or modify
00043 # it under the terms of the GNU Lesser General Public License LGPL as 
00044 # published by the Free Software Foundation, either version 3 of the 
00045 # License, or (at your option) any later version.
00046 # 
00047 # This program is distributed in the hope that it will be useful,
00048 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00049 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00050 # GNU Lesser General Public License LGPL for more details.
00051 # 
00052 # You should have received a copy of the GNU Lesser General Public 
00053 # License LGPL along with this program. 
00054 # If not, see <http://www.gnu.org/licenses/>.
00055 #
00056 #################################################################
00057 
00058 import roslib; 
00059 roslib.load_manifest('srs_grasping')
00060 import rospy
00061 import sys
00062 import grasping_functions
00063 
00064 from srs_grasping.srv import *
00065 
00066 
00067 
00068 class grasp_simulation():
00069 
00070         def __init__(self):
00071 
00072                 self.get_grasp_configurations_service = rospy.ServiceProxy('get_db_grasps', GetDBGrasps)
00073 
00074 
00075         def run(self, object_id):       
00076 
00077                 req = GetDBGraspsRequest(object_id=object_id)
00078                 res = self.get_grasp_configurations_service(req)
00079                 grasps = res.grasp_configuration
00080                 grasping_functions.openraveutils.show_all_grasps(object_id, grasps);
00081 
00082 
00083 
00084 if __name__ == "__main__":
00085 
00086         rospy.init_node('grasp_simulation')
00087         s = grasp_simulation()
00088 
00089         if len(sys.argv) == 1:
00090                 print "---------------------------------------------------------------------------------------"
00091                 print "usage:\t\trosrun srs_grasping test_simulation [object_id]\ndefault:\tobject_id: 9 (Milkbox)"
00092                 print "---------------------------------------------------------------------------------------"
00093                 s.run(9)
00094         else:
00095                 s.run(int(sys.argv[1]))


srs_grasping
Author(s): Robotnik Automation SLL
autogenerated on Mon Oct 6 2014 08:59:42