Grasping output

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Grasping output

jason
Hi,

I am trying to get the possible positions of a manipulatro's fingers for grasping an object.
Currently i still am just using the default mug with a manipulator i made.
The grasping module executes almost without any issue for ode and bullet (in ode i get [odecollision.h:291] max contacts 255 reached, but still more contacts left! If this is a problem, try increasing the limit with the SetMaxContracts command
). i get the output graspset files in python pickle format. Then i proceed to unpickle the file to a random text file with the below set of commands:

import pprint, pickle

pkl_file = open('/home/user/Desktop/graspset.bullet.pp', 'rb')

data1 = pickle.load(pkl_file)
pprint.pprint(data1)

data1=str(data1)
fo=open("/home/user/Desktop/GRASP_BULLET", "rw+")
fo.write(data1)

pkl_file.close()

but when i open the GRASP_BULLET file the contents are just disapointing:

(7, (array([[ -9.95876715e-02,   8.90236438e-01,   4.44478773e-01, ...,
          2.14628648e-01,  -1.58050606e-01,   1.57079633e+00],
       [ -1.58213967e-01,   9.32409315e-01,  -3.24932625e-01, ...,
          1.87328727e-01,   2.26109254e-01,   4.71238898e+00],
       [  3.79808167e-02,   9.97059158e-01,  -6.65619453e-02, ...,
          8.02059939e-02,  -1.32461520e-01,   1.57079633e+00],
       ...,
       [ -1.56125113e-16,  -9.78506145e-01,   2.06217661e-01, ...,
         -1.22029687e-02,  -2.53616725e-01,   4.71238898e+00],
       [ -1.56754458e-16,   9.93733876e-01,   1.11772013e-01, ...,
          5.82242217e-02,   1.94383630e-01,   4.71238898e+00],
       [ -1.56754458e-16,   9.93733876e-01,   1.11772013e-01, ...,
          5.82242217e-02,   1.94383630e-01,   4.71238898e+00]]), {'igraspstandoff': [19], 'grasptrans_nocol': [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11], 'imanipulatordirection': [16, 17, 18], 'igrasproll': [44], 'performance': [12], 'igraspdir': [13, 14, 15], 'igrasptrans': [32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43], 'forceclosure': [20], 'igrasppos': [21, 22, 23], 'igrasppreshape': [24, 25, 26, 27, 28, 29, 30, 31]}, 0.3, [], None, None, None))

Not at all what i'd expect.
Shouldn't i be getting the dof angles for the various positions?

Thank you,
Jason
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