OpenRAVE Documentation

VisualFeedback - rmanipulation

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

Adds grasp planning taking into account camera visibility constraints. The relevant paper is:

  • Rosen Diankov, Takeo Kanade, James Kuffner. Integrating Grasp Planning and Visual Feedback for Reliable Manipulation, IEEE-RAS Intl. Conf. on Humanoid Robots, December 2009.

Visibility computation checks occlusion with other objects using ray sampling in the image space:

../../../_images/interface_visualfeedback_occlusions.jpg

VisualFeedback Commands

ComputeVisibility

Computes the visibility of the current robot configuration


ComputeVisibleConfiguration

Gives a camera transformation, computes the visibility of the object and returns the robot configuration that takes the camera to its specified position, otherwise returns false


help

display help commands.


MoveToObserveTarget

Approaches a target object while choosing a goal such that the robot’s camera sensor sees the object


ProcessVisibilityExtents

Processes the visibility extents of the target and initializes the camera transforms.

param sphere:Sets the transforms along a sphere density and the distances
param conedirangle:
 Prunes the currently set transforms along a cone centered at the local target center and directed towards conedirangle with a half-angle of |conedirangle|. Can specify multiple cones for an OR effect.

SampleVisibilityGoal

Samples a goal with the current manipulator maintaining camera visibility constraints


SetCameraAndTarget

Sets the camera index from the robot and its convex hull


SetCameraTransforms

Sets new camera transformations. Can optionally choose a minimum distance from all planes of the camera convex hull (includes gripper mask)


SetParameter

Sets internal parameters of visibility computation


VisualFeedbackGrasping

Stochastic greedy grasp planner considering visibility


Questions/Feedback

Having problems with OpenRAVE?