test_simulation.py

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#!/usr/bin/python
#################################################################
##\file
#
# \note
#   Copyright (c) 2012 \n
#   Robotnik Automation SLL \n\n
#
#################################################################
#
# \note
#   Project name: srs
# \note
#   ROS stack name: srs_public
# \note
#   ROS package name: srs_grasping
#
# \author
#   Author: Manuel Rodriguez, email:mrodriguez@robotnik.es
# \author
#   Supervised by: Manuel Rodriguez, email:mrodriguez@robotnik.es
#
# \date Date of creation: March 2012
#
# \brief
#   Implements the simulation for the precomputed grasps. 
#
#################################################################
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     - Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer. \n
#     - Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution. \n
#     - Neither the name of the Robotnik Automation SLL nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission. \n
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License LGPL as 
# published by the Free Software Foundation, either version 3 of the 
# License, or (at your option) any later version.
# 
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License LGPL for more details.
# 
# You should have received a copy of the GNU Lesser General Public 
# License LGPL along with this program. 
# If not, see <http://www.gnu.org/licenses/>.
#
#################################################################

import roslib; 
roslib.load_manifest('srs_grasping')
import rospy
import sys
import grasping_functions

from srs_grasping.srv import *



class grasp_simulation():

        def __init__(self):

                self.get_grasp_configurations_service = rospy.ServiceProxy('get_db_grasps', GetDBGrasps)


        def run(self, object_id):       

                req = GetDBGraspsRequest(object_id=object_id)
                res = self.get_grasp_configurations_service(req)
                grasps = res.grasp_configuration
                grasping_functions.openraveutils.show_all_grasps(object_id, grasps);



if __name__ == "__main__":

        rospy.init_node('grasp_simulation')
        s = grasp_simulation()

        if len(sys.argv) == 1:
                print "---------------------------------------------------------------------------------------"
                print "usage:\t\trosrun srs_grasping test_simulation [object_id]\ndefault:\tobject_id: 9 (Milkbox)"
                print "---------------------------------------------------------------------------------------"
                s.run(9)
        else:
                s.run(int(sys.argv[1]))