simplemanipulation Module¶
Explicitly specify goals to get a simple navigation and manipulation demo.
Running the Example:
openrave.py --example simplemanipulation
Description¶
This example shows how to string in a navigation and manipulation planner to achieve a simple goto -> grab -> move task.
Command-line¶
Usage: openrave.py --example simplemanipulation [options]
Explicitly specify goals to get a simple navigation and manipulation demo.
Options:
-h, --help show this help message and exit
--planner=PLANNER the planner to use
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code¶
def main(env,options):
"Main example code."
# load a scene from ProjectRoom environment XML file
env.Load('data/pr2test2.env.xml')
time.sleep(1)
# 1) get the 1st robot that is inside the loaded scene
# 2) assign it to the variable named 'robot'
robot = env.GetRobots()[0]
manip = robot.SetActiveManipulator('leftarm_torso') # set the manipulator to leftarm + torso
ikmodel = databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D)
if not ikmodel.load():
ikmodel.autogenerate()
# create the interface for basic manipulation programs
basemanip = interfaces.BaseManipulation(robot,plannername=options.planner)
taskprob = interfaces.TaskManipulation(robot,plannername=options.planner)
target=env.GetKinBody('TibitsBox1')
with env:
jointnames = ['l_shoulder_lift_joint','l_elbow_flex_joint','l_wrist_flex_joint','r_shoulder_lift_joint','r_elbow_flex_joint','r_wrist_flex_joint']
robot.SetActiveDOFs([robot.GetJoint(name).GetDOFIndex() for name in jointnames])
basemanip.MoveActiveJoints(goal=[1.29023451,-2.32099996,-0.69800004,1.27843491,-2.32100002,-0.69799996])
waitrobot(robot)
print 'move robot base to target'
with env:
robot.SetActiveDOFs([],DOFAffine.X|DOFAffine.Y|DOFAffine.RotationAxis,[0,0,1])
basemanip.MoveActiveJoints(goal=[2.8,-1.3,0],maxiter=5000,steplength=0.15,maxtries=2)
waitrobot(robot)
taskprob.ReleaseFingers()
waitrobot(robot)
print 'move the arm to the target'
Tgoal = array([[0,-1,0,3.5],[-1,0,0,-1.3],[0,0,-1,0.842],[0,0,0,1]])
res = basemanip.MoveToHandPosition(matrices=[Tgoal],seedik=16)
waitrobot(robot)
print 'close fingers until collision'
taskprob.CloseFingers()
waitrobot(robot)
print 'move the arm with the target back to the initial position'
with env:
robot.Grab(target)
basemanip.MoveManipulator(goal=[0, 0, 1.29023451, 0, -2.32099996, 0, -0.69800004, 0])
waitrobot(robot)
print 'move the robot to another location'
with env:
robot.SetActiveDOFs([],DOFAffine.X|DOFAffine.Y|DOFAffine.RotationAxis,[0,0,1])
localgoal = [0,2.4,0]
T = robot.GetTransform()
goal = dot(T[0:3,0:3],localgoal) + T[0:3,3]
with robot:
robot.SetActiveDOFValues(goal)
incollision = env.CheckCollision(robot)
if incollision:
print 'goal in collision!!'
basemanip.MoveActiveJoints(goal=goal,maxiter=5000,steplength=0.15,maxtries=2)
waitrobot(robot)
print 'move the arm to the designated position on another table to place the target down'
Tgoal = array([[0,-1,0,3.5],[-1,0,0,1.5],[0,0,-1,0.855],[0,0,0,1]])
res = basemanip.MoveToHandPosition(matrices=[Tgoal],seedik=16)
waitrobot(robot)
taskprob.ReleaseFingers(target=target)
waitrobot(robot)
print 'move manipulator to initial position'
basemanip.MoveManipulator(goal=[0, 0, 1.29023451, 0, -2.32099996, 0, -0.69800004, 0])
waitrobot(robot)
print 'close fingers until collision'
taskprob.CloseFingers()
waitrobot(robot)
Class Definitions¶
Questions/Feedback
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