OpenRAVE Documentation

BaseManipulation - rmanipulation

Type:module
Plugin:rmanipulation
Interface Author:
 Rosen Diankov

Very useful routines for manipulation planning and planning in general. The planners use analytical inverse kinematics and search based techniques. Most of the MoveX commands by default execute the plan on the current robot by calling RobotBase.GetController().SetPath(). This can be disabled by adding ‘execute 0’ to the command line

BaseManipulation Commands

GrabBody

Robot calls ::Grab on a body with its current manipulator


help

display help commands.


JitterActive

Jitters the active DOF for a collision-free position.


MoveActiveJoints

Moves the current active joints to a specified goal destination:

  • maxiter - The maximum number of iterations on the internal planner.
  • maxtries - The maximum number of times to restart the planner.
  • steplength - See PlannerParameters::_fStepLength

MoveHandStraight

Move the active end-effector in a straight line until collision or IK fails. Parameters:

  • steplength - the increments in workspace in which the robot tests for the next configuration.
  • minsteps - The minimum number of steps that need to be taken in order for success to declared. If robot doesn’t reach this number of steps, it fails.
  • maxsteps - The maximum number of steps the robot should take.
  • direction - The workspace direction to move end effector in.

Method wraps the WorkspaceTrajectoryTracker planner. For more details on parameters, check out its documentation.


MoveManipulator

Moves arm joints of active manipulator to a given set of joint values


MoveToHandPosition

Move the manipulator’s end effector to reach a set of 6D poses. Parameters:


MoveUnsyncJoints

Moves the active joints to a position where the inactive (hand) joints can fully move to their goal. This is necessary because synchronization with arm and hand isn’t guaranteed. Options: handjoints savetraj planner


ReleaseAll

Releases all grabbed bodies (RobotBase::ReleaseAllGrabbed).


SetMinimumGoalPaths

Sets _minimumgoalpaths for all planner parameters.


SetPostProcessing

Sets post processing parameters.


SetRobot

Sets the robot.


Traj

Execute a trajectory from a file on the local filesystem


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