OpenRAVE Documentation

simplenavigation Module

Shows how to use RRTs for navigation planning by setting affine degrees of freedom.


Running the Example: --example simplenavigation


Usage: [options]

Simple navigation planning using RRTs.

  -h, --help            show this help message and exit
  --scene=SCENE         Scene file to load (default=data/lab1.env.xml)

  OpenRAVE Environment Options:
                        List all plugins and the interfaces they provide.
                        Default collision checker to use
    --physics=_PHYSICS  physics engine to use (default=none)
    --viewer=_VIEWER    viewer to use (default=qtcoin)
    --server=_SERVER    server to use (default=None).
                        port to load server on (default=4765).
    --module=_MODULES   module to load, can specify multiple modules. Two
                        arguments are required: "name" "args".
    -l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
                        Debug level, one of
    --testmode          if set, will run the program in a finite amount of
                        time and spend computation time validating results.
                        Used for testing

Main Python Code

def main(env,options):
    "Main example code."
    robot = env.GetRobots()[0]
    time.sleep(0.1) # give time for environment to update
    self = SimpleNavigationPlanning(robot)

Class Definitions

class openravepy.examples.simplenavigation.SimpleNavigationPlanning(robot, randomize=False, dests=None, switchpatterns=None)[source]
openravepy.examples.simplenavigation.main(env, options)[source]

Main example code.*args, **kwargs)[source]

Command-line execution of the example.

Parameters:args – arguments for script to parse, if not specified will use sys.argv


Having problems with OpenRAVE?