OpenRAVE Documentation

TaskManipulation Module

openravepy.interfaces.TaskManipulation.RaveCreateModule((Environment)env, (str)name) → Module :

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

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

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

Return an empty trajectory instance.
class openravepy.interfaces.TaskManipulation.TaskManipulation(robot, plannername=None, maxvelmult=None, graspername=None)[source]

Interface wrapper for TaskManipulation - rmanipulation

CloseFingers(offset=None, movingdir=None, execute=None, outputtraj=None, outputfinal=None, coarsestep=None, translationstepmult=None, finestep=None, outputtrajobj=None)[source]

See CloseFingers

EvaluateConstraints(freedoms, configs, targetframematrix=None, targetframepose=None, errorthresh=None)[source]

See EvaluateConstraints

GraspPlanning(graspindices=None, grasps=None, target=None, approachoffset=0, destposes=None, seedgrasps=None, seeddests=None, seedik=None, maxiter=None, randomgrasps=None, randomdests=None, execute=None, outputtraj=None, grasptranslationstepmult=None, graspfinestep=None, outputtrajobj=None, gmodel=None)[source]

See GraspPlanning

If gmodel is specified, then do not have to fill graspindices, grasps, target, grasptranslationstepmult, graspfinestep

ReleaseActive(movingdir=None, execute=None, outputtraj=None, outputfinal=None, translationstepmult=None, finestep=None, outputtrajobj=None)[source]

See ReleaseActive

ReleaseFingers(target=None, movingdir=None, execute=None, outputtraj=None, outputfinal=None, coarsestep=None, translationstepmult=None, finestep=None, outputtrajobj=None)[source]

See ReleaseFingers

SwitchModels(switchpatterns=None, unregister=None, switchtofat=None, clearpatterns=None, clearmodels=None, update=None)[source]

See SwitchModels

class SwitchState(taskmanip, update=True)[source]
TaskManipulation.clone(envother)[source]

Clones the interface into another environment

openravepy.interfaces.TaskManipulation.matrixSerialization((object)transform) → str :

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

Parameters:transform – 3x4 or 4x4 array

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