OpenRAVE Documentation

BaseManipulation Module

class openravepy.interfaces.BaseManipulation.BaseManipulation(robot, plannername=None, maxvelmult=None)[source]

Interface wrapper for BaseManipulation - rmanipulation

Clone(envother)[source]

Clones the interface into another environment

FindIKWithFilters(ikparam, cone=None, solveall=None, filteroptions=None)[source]

See module-basemanipulation-findikwithfilters

JitterActive(maxiter=None, jitter=None, execute=None, outputtraj=None, outputfinal=None, outputtrajobj=None)[source]

See JitterActive

MoveActiveJoints(goal=None, steplength=None, maxiter=None, maxtries=None, execute=None, outputtraj=None, goals=None, outputtrajobj=None, jitter=None, releasegil=False, postprocessingplanner=None, postprocessingparameters=None)[source]

See MoveActiveJoints

MoveHandStraight(direction, minsteps=None, maxsteps=None, stepsize=None, ignorefirstcollision=None, starteematrix=None, greedysearch=None, execute=None, outputtraj=None, maxdeviationangle=None, steplength=None, planner=None, outputtrajobj=None)[source]

See MoveHandStraight

MoveManipulator(goal=None, maxiter=None, execute=None, outputtraj=None, maxtries=None, goals=None, steplength=None, outputtrajobj=None, jitter=None, releasegil=False)[source]

See MoveManipulator

MoveToHandPosition(matrices=None, affinedofs=None, maxiter=None, maxtries=None, translation=None, rotation=None, seedik=None, constraintfreedoms=None, constraintmatrix=None, constrainterrorthresh=None, execute=None, outputtraj=None, steplength=None, goalsamples=None, ikparam=None, ikparams=None, jitter=None, minimumgoalpaths=None, outputtrajobj=None, postprocessing=None, jittergoal=None, constrainttaskmatrix=None, constrainttaskpose=None, goalsampleprob=None, goalmaxsamples=None, goalmaxtries=None)[source]

See MoveToHandPosition

postprocessing is two parameters: (plannername,parmaeters)

MoveUnsyncJoints(jointvalues, jointinds, maxtries=None, planner=None, maxdivision=None, execute=None, outputtraj=None, outputtrajobj=None)[source]

See MoveUnsyncJoints

SetRobot(robot)[source]

See SetRobot

TrajFromData(data, resettrans=False, resettiming=False)[source]

See Traj

VerifyTrajectory(data, resettrans=False, resettiming=False, samplingstep=None)[source]

See module-basemanipulation-verifytrajectory

clone(envother)[source]
openravepy.interfaces.BaseManipulation.RaveCreateModule((Environment)env, (str)name) → Module :

OPENRAVE_API ModuleBasePtr RaveCreateModule(EnvironmentBasePtr penv, const std::string & name)

openravepy.interfaces.BaseManipulation.RaveCreateTrajectory((Environment)env, (str)name) → Trajectory :

OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory(EnvironmentBasePtr penv, const std::string & name = “” )

Return an empty trajectory instance.
openravepy.interfaces.BaseManipulation.matrixSerialization((object)transform) → str :

Serializes a transformation into a string representing a 3x4 matrix.

Parameters:transform – 3x4 or 4x4 array

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