tutorial_ik5d Module
Shows how to use 5D translation+direction inverse kinematics for an arm with >= 5 joints.
Running the Example:
openrave.py --example tutorial_ik5d
Command-line
Usage: openrave.py [options]
Shows how to use the 5DOF IK solution for arms with >= 5 joints.
Options:
-h, --help show this help message and exit
--scene=SCENE Scene file to load (default=data/katanatable.env.xml)
--manipname=MANIPNAME
name of manipulator to use (default=arm)
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."
env.Load(options.scene)
robot = env.GetRobots()[0]
robot.SetActiveManipulator(options.manipname)
# generate the ik solver
ikmodel = databases.inversekinematics.InverseKinematicsModel(robot, iktype=IkParameterization.Type.TranslationDirection5D)
if not ikmodel.load():
ikmodel.autogenerate()
while True:
with env:
while True:
target=ikmodel.manip.GetTransform()[0:3,3]+(random.rand(3)-0.5)
direction = random.rand(3)-0.5
direction /= linalg.norm(direction)
solutions = ikmodel.manip.FindIKSolutions(IkParameterization(Ray(target,direction),IkParameterization.Type.TranslationDirection5D),IkFilterOptions.CheckEnvCollisions)
if solutions is not None and len(solutions) > 0: # if found, then break
break
h=env.drawlinestrip(array([target,target+0.1*direction]),10)
for i in random.permutation(len(solutions))[0:min(80,len(solutions))]:
with env:
robot.SetDOFValues(solutions[i],ikmodel.manip.GetArmIndices())
env.UpdatePublishedBodies()
time.sleep(0.2)
h=None
Class Definitions
-
openravepy.examples.tutorial_ik5d.main(env, options)[ソース]
Main example code.
-
openravepy.examples.tutorial_ik5d.run(*args, **kwargs)[ソース]
Command-line execution of the example.
パラメタ: | args – arguments for script to parse, if not specified will use sys.argv |