OpenRAVE Documentation

TaskManipulation - rmanipulation

Type:module
Plugin:rmanipulation
Interface Author:
 Rosen Diankov

Task-based manipulation planning involving target objects. A lot of the algorithms and theory are covered in:

  • Rosen Diankov. “Automated Construction of Robotic Manipulation Programs”. PhD Thesis, CMU-RI-TR-10-29, Carnegie Mellon University, Robotics Institute, August 2010.

TaskManipulation Commands

CloseFingers

Closes the active manipulator fingers using the grasp planner.


CreateSystem

creates a sensor system and initializes it with the current bodies


EvaluateConstraints

Instantiates a jacobian constraint function and runs it on several examples. The constraints work on the active degress of freedom of the manipulator starting from the current configuration


GraspPlanning

Grasp planning is the ultimate function that puts together many planners achieving a robust and general pick and place motiotions with grasp sets. It first chooses grasps from a grasp set and use it for manipulation. In order for the arm to reach the grasps, it must have a Transform6D or TranslationDirection5D IK solver, anything with less DOF will not work. Parameters:

  • grasps
  • outputtraj
  • execute
  • randomdests
  • writetraj
  • maxiter
  • igraspdir
  • igrasppos
  • igrasproll
  • igraspstandoff
  • igrasppreshape
  • igrasptrans
  • target
  • approachoffset
  • quitafterfirstrun
  • matdests
  • posedests
  • seedgrasps
  • seeddests
  • seedik
  • savepreshapetraj
  • grasptranslationstepmult
  • graspfinestep

help

display help commands.


ReleaseActive

Moves the active DOF using the grasp planner.


ReleaseFingers

Releases the active manipulator fingers using the grasp planner. Also releases the given object.


SetMinimumGoalPaths

Sets _minimumgoalpaths for all planner parameters.


SwitchModels

Switches between thin and fat models for planning.


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