mveres01/multi-contact-grasping

This project implements a simulated grasp-and-lift process in V-REP using the Barrett Hand, with an interface through a python remote API.

multi-contact-grasping's Issues

Errors when running the scripts

Many thanks! According to your suggestion, I try it and find it works out. Here is what I do to solve this problem:
Open the shell commend, and input:
git clone https://github.com/mveres01/multi-contact-grasping
cd multi-contact-grasping
git checkout dev

Then I run the script src/collect_grasps.py. it works out correctly.

Thanks a lot. I will do grasp research based on it and make some progression in the future.

Originally posted by @vanusy in #5 (comment)

Problems about Running the Scripts

My system is ubuntu 16.04 and V-REP version is 3.5 EDU. First, I open "grasp_scene.ttt". But when I run the simulation, I see the barretthand disappeared. Then I run the script "collect_grasps.py", but it comes out that an error occurs. Here is the traceback:
Traceback (most recent call last):

File "", line 1, in
runfile('/media/xiaoqing/Project/Git Grasp/multi-contact-grasping/src/collect_grasps.py', wdir='/media/xiaoqing/Project/Git Grasp/multi-contact-grasping/src')

File "/home/xiaoqing/anaconda2/lib/python2.7/site-packages/spyder/utils/site/sitecustomize.py", line 705, in runfile
execfile(filename, namespace)

File "/home/xiaoqing/anaconda2/lib/python2.7/site-packages/spyder/utils/site/sitecustomize.py", line 94, in execfile
builtins.execfile(filename, *where)

File "/media/xiaoqing/Project/Git Grasp/multi-contact-grasping/src/collect_grasps.py", line 274, in
collect_grasps(mesh_path, sim)

File "/media/xiaoqing/Project/Git Grasp/multi-contact-grasping/src/collect_grasps.py", line 165, in collect_grasps
gripper_offset=candidate_offset)

File "/media/xiaoqing/Project/Git Grasp/multi-contact-grasping/src/collect_grasps.py", line 107, in generate_candidates
h=(p - triangles)**2

ValueError: operands could not be broadcast together with shapes (95,3) (12,3)

Could you help me about this problem? Many thanks.

Questions about the use of simxCallSciptFunction

Hi, I am learning VREP recently for grasp simulation and find your code very helpful. Now I am trying to make some modifications to your code like replacing the barrett hand with other gripper and loading object I prepared in ttm format.

However, I find the use of simxCallSciptFunction in simulator.py hard to understand. For example in the load_object function:

r = vrep.simxCallScriptFunction(self.clientID, 'remoteApiCommandServer', vrep.sim_scripttype_childscript, 'loadObject', in_ints, in_floats, [object_path], bytearray(), vrep.simx_opmode_blocking)

I understand that this is to remotely call a V-REP script, and you have specified the script type as "vrep.sim_scripttype_childscript", which should be a child script that is attached to an object (in this case it is the dummy remoteApiCommandServer) in the scene. But in the child script attached to remoteApiCommandServer, there is only one line:
require('remoteApiCommandServer')

I guess this python function eventually makes call to the Regular API function simImportMesh, so would you please shed some light on how this works?

ERROR Loading object

Hello, I was running the code but encountered a problem. I was doing exact as instructed and I wonder what caused the problem.

Here's the running result:
mesh_path: E:\vrep_sim\data\meshes\cube.stl
Traceback (most recent call last):
File "E:/vrep_sim/src/collect_grasps.py", line 269, in
collect_grasps(mesh_path, sim)
File "E:/vrep_sim/src/collect_grasps.py", line 168, in collect_grasps
sim.load_object(mesh_path, com, mass, inertia.flatten())
File "E:\vrep_sim\src\simulator.py", line 297, in load_object
raise Exception('Error loading object! Return code ', r)
Exception: ('Error loading object! Return code ', (8, [], [], [], bytearray(b'')))

[/remoteApiCommandServer@childScript:error] 705: in sim.setInt32Signal: one of the function's argument type is not correct.
stack traceback:
[C]: in function 'simSetIntegerSignal'
E:/vrep_sim/scenes/remoteApiCommandServer.lua:705: in main chunk
[C]: in field 'require'
...rogram Files/CoppeliaRobotics/CoppeliaSimEdu/lua/sim.lua:27: in function 'require'
[string "/remoteApiCommandServer@childScript"]:1: in function 'sim_code_function_to_run'
"Error: ",[long string]

And line705 is “simSetIntegerSignal('h_gripper_config_buffer', h_gripper_config_buffer)”

Could anyone give a clue? Many thanks!

Any idea for add an new gripper which is not default support by vrep ?

Write a brief guide on how to incorporate different grippers