Type: | module |
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Plugin: | rmanipulation |
Interface Author: | |
Rosen Diankov |
Adds grasp planning taking into account camera visibility constraints. The relevant paper is:
Visibility computation checks occlusion with other objects using ray sampling in the image space:
Gives a camera transformation, computes the visibility of the object and returns the robot configuration that takes the camera to its specified position, otherwise returns false
Approaches a target object while choosing a goal such that the robot’s camera sensor sees the object
Processes the visibility extents of the target and initializes the camera transforms.
param sphere: | Sets the transforms along a sphere density and the distances |
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param conedirangle: | |
Prunes the currently set transforms along a cone centered at the local target center and directed towards conedirangle with a half-angle of |conedirangle|. Can specify multiple cones for an OR effect. |
Samples a goal with the current manipulator maintaining camera visibility constraints
Sets new camera transformations. Can optionally choose a minimum distance from all planes of the camera convex hull (includes gripper mask)