A class for simulating multiple grasping tasks. More...

#include <GraspTaskSimulator.hpp>

Classes
struct	GraspedObject

struct	SimState

Public Types
enum	StepState { GRASPING , LIFTING , NEW_GRASP , APPROACH }

typedef rw::core::Ptr< GraspTaskSimulator >	Ptr
	smart pointer type

Public Member Functions
	GraspTaskSimulator (rwsim::dynamics::DynamicWorkCell::Ptr dwc, int nrThreads=1)
	constructor More...

virtual	~GraspTaskSimulator ()
	destructor

void	load (const std::string &filename)
	load tasks

void	load (rwlibs::task::GraspTask::Ptr graspTasks)

rwlibs::task::GraspTask::Ptr	getTasks ()

rwlibs::task::GraspTask::Ptr	getResult ()

size_t	getNrTargets ()
	get the number of targets

ThreadSimulator::Ptr	getSimulator ()

std::vector< ThreadSimulator::Ptr >	getSimulators ()

void	init (rwsim::dynamics::DynamicWorkCell::Ptr dwc, const rw::kinematics::State &initState, std::string engineID="ODE")

void	startSimulation (const rw::kinematics::State &initState)

void	pauseSimulation ()

void	resumeSimulation ()

bool	isRunning ()

bool	isFinished ()

int	getStat (rwlibs::task::GraspResult::TestStatus status)
	get the statistics of the current simulations More...

std::vector< int >	getStat ()
	get the current statistics. The array is based on the enumeration rwlibs::task::GraspTask::TestStatus

std::string	getStatDescription ()

int	getNrTargetsDone ()
	get the number of targets that have been simulated until now

void	setAlwaysResting (bool alwaysResting)

void	setStepDelay (int delay)
	add a delay each time the simulation has stepped. usefull for debuging or visualization. More...

void	setWallTimeLimit (double limit)
	Sets the limit on wall time required for single grasp simulation. More...

void	setSimTimeLimit (double limit)
	Sets the limit on internal simulation time for single grasp simulation. More...

void	setStoreTimedStatePaths (bool enabled)
	Enable storing the simulations as TimedStatePaths. More...

void	forceSimulateAll (bool enabled)
	force the simulation of all tasks, even those that already have results in specified in the task More...

std::map< rwlibs::task::GraspSubTask , std::map< rwlibs::task::GraspTarget , rw::trajectory::TimedStatePath > >	getTimedStatePaths () const
	Get the current map of stored TimedStatePaths. More...

Protected Member Functions
virtual void	graspFinished (SimState &sstate)
	Callback called after each finished grasp.

virtual void	printGraspResult (SimState &sstate)
	Prints result after the grasp is finished.

virtual void	simulationFinished (SimState &sstate)
	Callback called after simulation is finished.

Protected Attributes
rwsim::dynamics::DynamicWorkCell::Ptr	_dwc

bool	_requestSimulationStop

int	_stepDelayMs

int	_autoSaveInterval

double	_maxObjectGripperDistanceThreshold

std::vector< int >	_stat

bool	_initialized

int	_nrOfThreads

int	_currentTargetIndex

bool	_alwaysResting

int	_gripperDim

int	_failed

int	_success

int	_slipped

int	_collision

int	_timeout

int	_simfailed

int	_skipped

int	_nrOfExperiments

int	_lastSaveTaskIndex

int	_totalNrOfExperiments

std::vector< rw::core::Ptr< rwsim::dynamics::RigidBody > >	_objects

rwsim::dynamics::DynamicDevice::Ptr	_dhand

rw::core::Ptr< rwsim::dynamics::RigidDevice >	_rhand

rw::models::Device::Ptr	_hand

rw::core::Ptr< rwsim::dynamics::KinematicBody >	_hbase

rw::kinematics::MovableFrame *	_mbase

rwlibs::simulation::SimulatedController::Ptr	_simGraspController

rw::kinematics::Frame *	_tcp

rw::kinematics::State	_homeState

std::map< rwsim::simulator::ThreadSimulator::Ptr, SimState >	_simStates

std::vector< rwsim::simulator::ThreadSimulator::Ptr >	_simulators

rwlibs::task::GraspSubTask *	_currentTask

rwlibs::task::GraspTarget *	_currentTarget

rwlibs::task::GraspTask::Ptr	_gtask

std::stack< std::pair< rwlibs::task::GraspSubTask , rwlibs::task::GraspTarget > >	_taskQueue

rw::core::Ptr< rw::proximity::CollisionDetector >	_collisionDetector

boost::mutex	_nextTargetLock

double	_wallTimeLimit

double	_simTimeLimit

bool	_storeTimedStatePaths

bool	_forceSimulateAll

std::map< rwlibs::task::GraspSubTask , std::map< rwlibs::task::GraspTarget , rw::trajectory::TimedStatePath > >	_timedStatePaths

Detailed Description

A class for simulating multiple grasping tasks.

A grasping task can be considered as a sequence of the following states

initialize gripper joint values and pose
approach the target "object"
grasp target by closing fingers
stop grasp when either fingers are still or there is a timeout
calculate grasp success
retract gripper
calculate grasp success

The home and target poses are controlled through a task description file. Which is also used to write back all the results of the simulation.

The configuration of the simulation is setup through properties. These can be set from the command prompt, loaded by file, or edited in the gui. These properties include:

Simulator
TimeStepSize
HandOpenConfig
HandCloseConfig
MinRestingTime

Constructor & Destructor Documentation

◆ GraspTaskSimulator()

GraspTaskSimulator	(	rwsim::dynamics::DynamicWorkCell::Ptr	dwc,
		int	nrThreads = `1`
	)

constructor

Parameters

dwc	[in] the dynamic workcell
nrThreads	[in] the number of parallel simulations to run

Member Function Documentation

◆ forceSimulateAll()

void forceSimulateAll ( bool enabled )

inline

force the simulation of all tasks, even those that already have results in specified in the task

Parameters

enabled

◆ getStat()

int getStat ( rwlibs::task::GraspResult::TestStatus status )

inline

get the statistics of the current simulations

Parameters

status [in]

Returns

◆ getTimedStatePaths()

std::map<rwlibs::task::GraspSubTask*, std::map<rwlibs::task::GraspTarget*, rw::trajectory::TimedStatePath> > getTimedStatePaths ( ) const

inline

Get the current map of stored TimedStatePaths.

Note that setStoreTimedStatePaths must be set to enabled before running the simulation or the map will be empty. Please call this function only after simulation is finished.

Returns: a map of maps to a TimedStatePath (indexed by GraspSubTask pointer and a GraspTarget pointer).

◆ load()

void load ( rwlibs::task::GraspTask::Ptr graspTasks )

Parameters

graspTasks

◆ setSimTimeLimit()

void setSimTimeLimit ( double limit )

inline

Sets the limit on internal simulation time for single grasp simulation.

Parameters

limit [in] simulation time limit in seconds (default 30.0)

◆ setStepDelay()

void setStepDelay ( int delay )

inline

add a delay each time the simulation has stepped. usefull for debuging or visualization.

Parameters

delay

◆ setStoreTimedStatePaths()

void setStoreTimedStatePaths ( bool enabled )

inline

Enable storing the simulations as TimedStatePaths.

Parameters

enabled [in] whether or not a TimeStatePath should be stored for each grasp simulation.

◆ setWallTimeLimit()

void setWallTimeLimit ( double limit )

inline

Sets the limit on wall time required for single grasp simulation.

Parameters

limit [in] wall time limit in seconds (default 30.0)

The documentation for this class was generated from the following file:

GraspTaskSimulator.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GraspTaskSimulator()

Member Function Documentation

◆ forceSimulateAll()

◆ getStat()

◆ getTimedStatePaths()

◆ load()

◆ setSimTimeLimit()

◆ setStepDelay()

◆ setStoreTimedStatePaths()

◆ setWallTimeLimit()