OpenRAVE Documentation

Examples

Python Examples

calibrationviews

../calibrationviews

Calibrates a camera attached on a robot by moving it around a pattern.

checkconvexdecomposition

../checkconvexdecomposition

Builds the convex decomposition of the robot and plots all points inside its volume.

checkvisibility

../checkvisibility

Computes the visibilty extents of a camera and an object.

collision

../collision

Check collision calls, use collision reports, and do distance queries.

collision2

../collision2

Plot collision contacts.

constraintplanning

../constraintplanning

Shows how to use simple gradient-based jacobians to constrain the motion of the robot while planning.

cubeassembly

../cubeassembly

Assembly of cube from randomly scattered blocks using grasp sets.

dualarmdemo_schunk

../dualarmdemo_schunk

Dual arm manipulation example.

fastgrasping

../fastgrasping

Finds the first feasible grasp for an object as fast as possible without generating a grasp database.

fastgraspingthreaded

../fastgraspingthreaded

Finds the first feasible grasp for an object as fast as possible without generating a grasp database.

graspplanning

../graspplanning

Combine the power of grasp sets and randomized planners to get any robot arm picking up objects from a table and putting them in a dish rack.

hanoi

../hanoi

Solves the hanoi problem using simple arm planning.

inversekinematicspick

../inversekinematicspick

Creates an object whose transform is used to solve IK solutions for each robot manipulator.

movehandstraight

../movehandstraight

Tests moving the end effctor of the manipulator in straight paths.

pr2turnlever

../pr2turnlever

Shows how to set a workspace trajectory for the hand and have a robot plan it.

qtexampleselector

../qtexampleselector

Control and run the openrave python examples with a pyqt gui.

qtserverprocess

../qtserverprocess

Pyqt example to demonstrate how openrave elements can be controlled by a qt-gui.

showsensors

../showsensors

Opens a GUI window showing the sensor data of a scene.

simplegrasping

../simplegrasping

Shows how to use the grasping.GraspingModel to compute valid grasps for manipulation.

simplemanipulation

../simplemanipulation

Explicitly specify goals to get a simple navigation and manipulation demo.

simplenavigation

../simplenavigation

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

testphysics

../testphysics

Shows how to enable physics.

testphysics_diffdrive

../testphysics_diffdrive

Shows how to enable differential drive with physics.

testviewercallback

../testviewercallback

Shows how to setup a callback for mouse clicks on the viewer.

tutorial_grasptransform

../tutorial_grasptransform

This tutorial shows how to find the transform that moves the hand to the target.

tutorial_ik5d

../tutorial_ik5d

Shows how to use 5D translation+direction inverse kinematics for an arm with >= 5 joints.

tutorial_iklookat

../tutorial_iklookat

Shows how to use lookat inverse kinematics to maintain line of sight with a moving object.

tutorial_iklookat_multiple

../tutorial_iklookat_multiple

Shows how to use lookat inverse kinematics to have multiple robots maintain line of sight while avoiding collisions.

tutorial_iksolutions

../tutorial_iksolutions

Shows how to call an IK solver and render all the solutions.

tutorial_iktranslation

../tutorial_iktranslation

Shows how to use translational inverse kinematics for an arm with few joints.

tutorial_iktranslation2d

../tutorial_iktranslation2d

Shows how to use the TranslationXY2D planar translation inverse kinematics type for an arm with few joints.

tutorial_inversereachability

../tutorial_inversereachability

Generate and use the inverse-reachability database in OpenRAVE for the PR2 robot.

tutorial_plotting

../tutorial_plotting

Example plotting calls.

visibilityplanning

../visibilityplanning

Planning with a wrist camera to look at the target object before grasping.

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