cubeassembly Module
Assembly of cube from randomly scattered blocks using grasp sets.
Running the Example:
openrave.py --example cubeassembly
There’s an ODE bug that can cause the demo to crash, if that happens try with a different collision checker like:
openrave.py --example cubeassembly --collision=bullet
Description
Command-line
Usage: openrave.py [options]
Simple cube assembly task using grasp sets.
Options:
-h, --help show this help message and exit
--scene=SCENE Scene file to load (default=data/hironxtable.env.xml)
--manipname=MANIPNAME
The manipulator 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."
env.Load(options.scene)
robot = env.GetRobots()[0]
if len(options.manipname) > 0:
robot.SetActiveManipulator(options.manipname)
time.sleep(0.1) # give time for environment to update
self = CubeAssembly(robot)
self.CreateBlocks()
while True:
Tgoal = eye(4)
Tgoal[0,3] = -0.2
Tgoal[2,3] = 0.001
self.SetGoal(Tgoal)
self.Plan()
Class Definitions
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class openravepy.examples.cubeassembly.CubeAssembly(robot)[source]
Bases: object
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CubeAssembly.CreateBlocks(side=0.014999999999999999, T=array([[ 1., 0., 0., 0.],
-
[ 0., 1., 0., 0.],
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[ 0., 0., 1., 0.],
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[ 0., 0., 0., 1.]]), generategrasps=True)
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Plan()[source]
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SetGoal(Tgoal, randomize=True)[source]
sets the goal of all the target bodies and randomizes the obstacles across the plane
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ShowGoal(Tgoal)[source]
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openravepy.examples.cubeassembly.main(env, options)[source]
Main example code.
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openravepy.examples.cubeassembly.run(*args, **kwargs)[source]
Command-line execution of the example.
Parameters: | args – arguments for script to parse, if not specified will use sys.argv |
-
openravepy.examples.cubeassembly.test()[source]