From OpenRAVE

by Rosen Diankov

Running the Example

python:

 openrave.py --example graspplanning

program options/description:

 openrave.py --example graspplanning --help

octave/matlab: (first start openrave)

 cd `openrave-config --prefix`/share/openrave/octave/examples/graspplanning
 octave --eval runwamdemo

Description

This example show how to combine the power of grasp sets and randomized planners to complete a full demo with an arm picking up objects from a table and putting them in a dish rack. The example uses the powerful TaskManipulation problem interface, which takes advantage of many OpenRAVE features. It performs:

• Pick grasps and validate them with the grasper planner
• Move to the appropriate grasp preshape while avoiding obstacles
• Use an RRT and Jacobian-based gradient descent methods to safely move close to an obstacle
• Use CloseFingers to grasp the object while checking for collisions with other unwanted objects
• Use body grabbing to grasp the object and move it to its destination
• Lower the object until collision and then release and move away from it.

The scene is randomized every run in order to show the powerful of the planners.

More screen shots: