graspit_commander

Python ROS Client for GraspIt!

This package offers a python client for the services exposed in: https://github.com/graspit-simulator/graspit_interface

Dependencies

Grid_sample_plugin

Installation

Follow the instructions at https://github.com/graspit-simulator/graspit_interface.

Usage

Start GraspIt! interface in one terminal.

source devel/setup.bash
roslaunch graspit_interface graspit_interface.launch

Then in a second terminal source ros workspace:

source devel/setup.bash

Then in python:

from graspit_commander import GraspitCommander
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.planGrasps(max_steps=50000)

Tests

In one terminal:

source devel/setup.bash
roslaunch graspit_interface graspit_interface.launch

Then in a second terminal:

source devel/setup.bash
roscd graspit_commander
py.test