opening doors with caging grasp
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I would like to use some of the planners in OpenRAVE to help with my door opening task. I found the Task Caging module and read the paper. It looks very close to what
I need, but I have some questions. I am not sure how to load or use the module. Some example code would be nice. The paper only discusses a non-moving robot base. My arm is so constrained, I need to move the base with the arm. (I essentially have a 3 link planar arm (in the vertical
plane) mounted on a rotating turret). Additionally, the base is non-holonomic. This is a Packbot with an EOD arm. Can the Task Caging module be extended to handle this? My end-effector does cage door levers, but rigidly holds doorknobs. But in both these cases, my end-effector has a non-actuated compliant U-joint wrist. How can this
DOF be added (perhaps manually) to the grasp set? FYI I am using OpenRAVE compiled from source (0.9.0) on Ubuntu 12.04. Thanks, Ben Ben Axelrod Sr. Robotics Software Engineer iRobot Corporation 8 Crosby Drive, M/S 8-1 Bedford, MA 01730 (781) 430-3315 ------------------------------------------------------------------------------ Is your legacy SCM system holding you back? Join Perforce May 7 to find out: • 3 signs your SCM is hindering your productivity • Requirements for releasing software faster • Expert tips and advice for migrating your SCM now http://p.sf.net/sfu/perforce _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Re: opening doors with caging grasp
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Dear Ben, I think the task caging code is not as documented as it should be, and therefore a little hard to use. Definitely, the caging mindset would fit your problem well because the packbot doesn't have many joints. There's another mindset of thinking here. If you can setup a configuration space that include both the robot joints and door joint, and have an initial configuration where the robot gripper clamps the door handle, then anything inside the free-space would be caging the handle. Luckily we've added an example to show how to merge configurations here, so it should be straightforward: http://www.openrave.org/docs/latest_stable/coreapihtml/orplanning_door_8cpp-example.html If you can get Translation3D (or TranslationDirection5D) IK working, then you should be able to compute the initial configuration easy. best, 2014-05-06 23:44 GMT+09:00 Axelrod, Ben <[hidden email]>:
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