File size: 929 Bytes
7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | """Grasp several objects in turn into one region, spreading the drop points."""
from .base import approach_and_grasp, place_at
def solve(env, objects, target, arm="right", jaw="auto", spread=0.075, lift=0.16,
on_top=False, max_gap=0.045):
a = env.arms[arm]
out = {}
for i, name in enumerate(objects):
pre = f"[{i+1}/{len(objects)}] "
res, ext = approach_and_grasp(env, a, name, jaw=jaw, max_gap=max_gap, prefix=pre)
if not res.ok:
out[name] = {"grasped": False, "reason": res.reason}
continue
# spread the drops: the same point twice means the second lands on the first and rolls out
dx = (i-(len(objects)-1)/2.0)*spread
out[name] = {"grasped": True,
"place_err": place_at(env, a, target, float(ext[2])/2.0,
on_top=on_top, lift=lift, dx=dx, prefix=pre)}
return out
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