OpenRAVE Documentation

databases Package

Kinematic, quasi-static, dynamic, and geometric analyses are precomputed and used as databases during the run-time. All database generators rely on a specific robot and provide many helpful methods to use the information after it has been generated.

The base abstract class is databases.DatabaseGenerator and always takes a robot as its parameter. Sometimes database generators are dependent on a robot’s manipulator, sensor, or target object. These extra parameters are always required at the constructor level. The hashes of all objects the generator relies on are used to produce a unique ID to index the database with $OPENRAVE_DATABASE. For example, the grasping database will combine the robot manipulator hash and the target object hash.

class openravepy.databases.DatabaseGenerator(robot)[source]

Bases: openravepy.metaclass.AutoReloader

The base class defining the structure of the openrave database generators.

  • robot – if not None, will use the robot’s active manipulator
  • manip – if not None, will the manipulator, takes precedence over robot
static CreateOptionParser(useManipulator=True)[source]

set basic option parsing options for using databasers through the command line

static InitializeFromParser(Model, parser=None, env=None, args=None, robotatts={}, defaultviewer=False, allowkinbody=False)[source]

run the database generator from the command line using

static RunFromParser(Model=None, env=None, parser=None, args=None, robotatts={}, defaultviewer=False, allowkinbody=False, **kwargs)[source]

run the database generator from the command line using


Caches parameters for most commonly used robots/objects and starts the generation process for them


clones a database onto a different environment

generate(*args, **kwargs)[source]

Generate producer, consumer, and gatherer functions allowing parallelization



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