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import copy |
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import os |
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import trimesh.transformations as tra |
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import trimesh |
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import numpy as np |
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import pickle |
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import torch |
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class PandaGripper(object): |
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"""An object representing a Franka Panda gripper.""" |
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def __init__(self, q=None, num_contact_points_per_finger=10, root_folder="./hand_model/panda_gripper_description"): |
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"""Create a Franka Panda parallel-yaw gripper object. |
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Keyword Arguments: |
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q {list of int} -- opening configuration (default: {None}) |
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num_contact_points_per_finger {int} -- contact points per finger (default: {10}) |
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root_folder {str} -- base folder for model files (default: {''}) |
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""" |
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self.joint_limits = [0.0, 0.04] |
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self.root_folder = root_folder |
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self.default_pregrasp_configuration = 0.04 |
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if q is None: |
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q = self.default_pregrasp_configuration |
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self.q = q |
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fn_base = os.path.join(root_folder, 'gripper_models/panda_gripper/hand.stl') |
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fn_finger = os.path.join(root_folder, 'gripper_models/panda_gripper/finger.stl') |
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self.base = trimesh.load(fn_base) |
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self.finger_l = trimesh.load(fn_finger) |
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self.finger_r = self.finger_l.copy() |
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self.finger_l.apply_transform(tra.euler_matrix(0, 0, np.pi)) |
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self.finger_l.apply_translation([+q, 0, 0.0584]) |
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self.finger_r.apply_translation([-q, 0, 0.0584]) |
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self.fingers = trimesh.util.concatenate([self.finger_l, self.finger_r]) |
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self.hand = trimesh.util.concatenate([self.fingers, self.base]) |
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self.contact_ray_origins = [] |
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self.contact_ray_directions = [] |
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with open(os.path.join(root_folder,'gripper_control_points/panda_gripper_coords.pickle'), 'rb') as f: |
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self.finger_coords = pickle.load(f, encoding='latin1') |
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finger_direction = self.finger_coords['gripper_right_center_flat'] - self.finger_coords['gripper_left_center_flat'] |
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self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_left_center_flat'], 1]) |
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self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_right_center_flat'], 1]) |
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self.contact_ray_directions.append(finger_direction / np.linalg.norm(finger_direction)) |
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self.contact_ray_directions.append(-finger_direction / np.linalg.norm(finger_direction)) |
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self.contact_ray_origins = np.array(self.contact_ray_origins) |
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self.contact_ray_directions = np.array(self.contact_ray_directions) |
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self.mesh=trimesh.util.concatenate([self.finger_l, self.finger_r, self.base]) |
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self.points=trimesh.sample.sample_surface(self.mesh, 1024)[0] |
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def get_meshes(self,transform): |
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"""Get list of meshes that this gripper consists of. |
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Returns: |
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list of trimesh -- visual meshes |
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""" |
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mesh_copy=copy.deepcopy(self.mesh) |
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return mesh_copy.apply_transform(transform) |
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def get_points(self,angle): |
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point_copy=copy.deepcopy(self.points) |
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return torch.tensor(trimesh.points.PointCloud(point_copy).apply_transform(angle).vertices) |
