OpenRAVE Documentation

TaskCaging - rmanipulation

Type:module
Plugin:rmanipulation
Interface Author:
 Rosen Diankov
../../../_images/interface_taskcaging.jpg

Implements various algorithms to open and close doors by having the hand cage the handles instead of tightly grip. This greatly relaxes the constraints on the robot (see the door manipluation example). The relevant paper is:

  • Rosen Diankov, Siddhartha Srinivasa, Dave Ferguson, James Kuffner. Manipulation Planning with Caging Grasps. IEEE-RAS Intl. Conf. on Humanoid Robots, December 2008.

TaskCaging Commands

bodytraj

Starts a body to follow a trajectory. The trajrectory must contain timestamps Options: target targettraj


graspset

Creates a grasp set given a robot end-effector floating in space. Options: step exploreprob size target targetjoint contactconfigdelta cagedconfig


help

display help commands.


simpleconstraintplan

Invokes a simple one grasp planner


taskconstraintplan

Invokes the relaxed task constrained planner


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