Python ROS Client for GraspIt!
This package offers a python client for the services exposed in: https://github.com/CURG/graspit_interface
Follow the instructions in the GraspIt Interface README to install GraspIt! and the GraspitInterface plugin.
Clone this repository into your graspit workspace:
cd graspit_ros_ws/src
git clone git@github.com:CURG/graspit_commander.git
Run catkin_make from the root of your workspace (just like in the GraspitInterface readme) to
install all of the python dependencies and add GraspitCommander to your path.
This is a ros package, so add it to your catkin_workspace, and run catkin_make
Then, in any python ros program you can simply import from GraspitCommander i.e.
from graspit_commander import GraspitCommander
GraspitCommander.loadWorld("plannerMug")
GraspitCommander.planGrasps(max_steps=50000)
We use py.test to run all of our integration tests. It should automatically be installed when you first run catkin_make in this workspace.
Run py.test from the root of this package to run all tests (the -v option gives you verbose output)