def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Shows how choose IK solutions so that move hand straight can move without discontinuities.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/puma_tabletop.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',
action="store",
type='string',
dest='manipname',
default=None,
help='Choose the manipulator to perform movement for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Shows how to use different IK solutions for arms with few joints.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/pr2test1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',
action="store",
type='string',
dest='manipname',
default='head_torso',
help='name of manipulator to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Example showing how to compute a valid grasp as fast as possible without computing a grasp set, this is used when the target objects change frequently.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/wamtest1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option(
'--manipname',
action="store",
type='string',
dest='manipname',
default=None,
help='Choose the manipulator to perform the grasping for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Builds the convex decomposition of the robot and plots all the points that are tested inside of it.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--target',
action="store",
type='string',
dest='target',
default='robots/barrettwam.robot.xml',
help='Target body to load (default=%default)')
parser.add_option(
'--samplingdelta',
action="store",
type='float',
dest='samplingdelta',
default=None,
help='The sampling rate for the robot (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description='Manipulation planning example solving the hanoi problem.',
usage='openrave.py --example hanoi [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/hanoi_complex2.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--planner',
action="store",
type='string',
dest='planner',
default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Shows how to use the grasping.GraspingModel to compute valid grasps for manipulation.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/wamtest1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option(
'--manipname',
action="store",
type='string',
dest='manipname',
default=None,
help='Choose the manipulator to perform the grasping for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Move base where the robot can perform target grasp using inversereachability database.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--robot',
action="store",
type='string',
dest='robot',
default='../robots/cob3.robot.xml',
help='Robot filename to use (default=%default)')
parser.add_option('--manipname',
action="store",
type='string',
dest='manipname',
default=None,
help='name of manipulator to use (default=%default)')
parser.add_option('--target',
action="store",
type='string',
dest='target',
default='data/mug2.kinbody.xml',
help='filename of the target to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args) # use default options
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="test physics")
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Example shows how to query collision detection information using openravepy')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='tutorial_plotting')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Example shows how to query collision detection information using openravepy')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="Views a calibration pattern from multiple locations.")
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option(
"--scene",
action="store",
type="string",
dest="scene",
default="data/pa10calib.env.xml",
help="Scene file to load (default=%default)",
)
parser.add_option(
"--sensorname",
action="store",
type="string",
dest="sensorname",
default=None,
help="Name of the sensor whose views to generate (default is first sensor on robot)",
)
parser.add_option(
"--sensorrobot",
action="store",
type="string",
dest="sensorrobot",
default=None,
help="Name of the robot the sensor is attached to (default=%default)",
)
parser.add_option(
"--norandomize",
action="store_false",
dest="randomize",
default=True,
help="If set, will not randomize the bodies and robot position in the scene.",
)
parser.add_option(
"--novisibility",
action="store_false",
dest="usevisibility",
default=True,
help="If set, will not perform any visibility searching.",
)
parser.add_option(
"--posedist",
action="store",
type="float",
dest="posedist",
default=0.05,
help="An average distance between gathered poses. The smaller the value, the more poses robot will gather close to each other",
)
(options, leftargs) = parser.parse_args(args=args)
env = OpenRAVEGlobalArguments.parseAndCreate(options, defaultviewer=True)
main(env, options)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
# set up planning environment
parser = OptionParser(description='Find the transform that moves the hand to target')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args) # use default options
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
# set up planning environment
parser = OptionParser(description='Find the transform that moves the hand to target')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args) # use default options
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="test physics")
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
main(env,options)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to set a workspace trajectory for the hand and have a robot plan it.', usage='openrave.py --example pr2turnlever [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pr2test1.env.xml',
help='scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to set a workspace trajectory for the hand and have a robot plan it.', usage='openrave.py --example pr2turnlever [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pr2test1.env.xml',
help='scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Explicitly specify goals to get a simple navigation and manipulation demo.', usage='openrave.py --example simplemanipulation [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--planner',action="store",type='string',dest='planner',default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="test physics")
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/hanoi.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Explicitly specify goals to get a simple navigation and manipulation demo.', usage='openrave.py --example simplemanipulation [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--planner',action="store",type='string',dest='planner',default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to attach a callback to a viewer to perform functions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='OpenRAVE scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Displays all images of all camera sensors attached to a robot.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/testwamcamera.env.xml',
help='OpenRAVE scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Displays all images of all camera sensors attached to a robot.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/testwamcamera.env.xml',
help='OpenRAVE scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to attach a callback to a viewer to perform functions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='OpenRAVE scene to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to use different IK solutions for arms with few joints.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pr2wam_test1.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
main(env,options)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="Schunk Manipulation planning example\nFor a dual arm robot with Schunk LWA3 arms, plan trajectories for grasping an object and manipulating it on a shelf.")
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/dualarmmanipulation.env.xml',
help='Scene file to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='RRT motion planning with constraints on the robot end effector.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='/home/student/rnd2/devel/ros_stacks/sandbox/urdf_collada/bin/lab1.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Simple navigation planning using RRTs.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='../environment/youbot_base_manipulation.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to use the grasping.GraspingModel to compute valid grasps for manipulation.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene', action="store",type='string',dest='scene',default='data/wamtest1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname', action="store",type='string',dest='manipname',default=None,
help='Choose the manipulator to perform the grasping for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="test physics")
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/hanoi.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--timestep',action="store",type='float',dest='timestep',default=0.001,
help='The physics simulation time step size (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='RRT motion planning with constraints on the robot end effector.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
main(env,options)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Builds the convex decomposition of the robot and plots all the points that are tested inside of it.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--target', action="store",type='string',dest='target',default='robots/barrettwam.robot.xml',
help='Target body to load (default=%default)')
parser.add_option('--samplingdelta', action="store",type='float',dest='samplingdelta',default=None,
help='The sampling rate for the robot (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Visibility Planning Module.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pa10grasp.env.xml',
help='openrave scene to load')
parser.add_option('--nocameraview',action="store_false",dest='usecameraview',default=True,
help='If set, will not open any camera views')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to generate a 6D inverse kinematics solver and use it for getting all solutions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--iktype', action='store',type='string',dest='iktype',default=None,
help='The ik type to build the solver current types are: %s'%(', '.join(iktype.name for iktype in IkParameterization.Type.values.values())))
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to generate a 6D inverse kinematics solver and use it for getting all solutions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--iktype', action='store',type='string',dest='iktype',default=None,
help='The ik type to build the solver current types are: %s'%(', '.join(iktype.name for iktype in IkParameterization.Type.values.values())))
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to use the 5DOF IK solution for arms with >= 5 joints.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/katanatable.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',action="store",type='string',dest='manipname',default='arm',
help='name of manipulator to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Computes if an object is visibile inside the robot cameras.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/testwamcamera.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True)
main(env,options)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Example showing how to compute a valid grasp as fast as possible without computing a grasp set, this is used when the target objects change frequently.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene', action="store",type='string',dest='scene',default='data/wamtest1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname', action="store",type='string',dest='manipname',default=None,
help='Choose the manipulator to perform the grasping for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Manipulation planning example solving the hanoi problem.', usage='openrave.py --example hanoi [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/hanoi_complex2.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--planner',action="store",type='string',dest='planner',default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Move base where the robot can perform target grasp using inversereachability database.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--robot',action="store",type='string',dest='robot',default='robots/pr2-beta-static.zae',
help='Robot filename to use (default=%default)')
parser.add_option('--manipname',action="store",type='string',dest='manipname',default=None,
help='name of manipulator to use (default=%default)')
parser.add_option('--target',action="store",type='string',dest='target',default='data/mug2.kinbody.xml',
help='filename of the target to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args) # use default options
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how choose IK solutions so that move hand straight can move without discontinuities.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/puma_tabletop.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',
action="store",type='string',dest='manipname',default=None,
help='Choose the manipulator to perform movement for')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Simple cube assembly task using grasp sets.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/hironxtable.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',
action="store",type='string',dest='manipname',default='leftarm_torso',
help='The manipulator to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to use different IK solutions for arms with few joints.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/katanatable.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',action="store",type='string',dest='manipname',default='arm',
help='name of manipulator to use (default=%default)')
parser.add_option('--withlocal',action="store_true",dest='withlocal',default=False,
help='If set, will use the TranslationLocalGlobal6D type to further specify the target point in the manipulator coordinate system')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the two robot manipulation.
"""
parser = OptionParser(description='Have two robots navigate their environment with a table.', usage='python grasp_stuff.py [options]')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--environment',action="store",type='string',dest='environment',default='twopr2.env.xml',
help='the environment to use')
parser.add_option('-x', action="store", type='float', dest='x', default=0.0,
help='the x location')
parser.add_option('-y', action="store", type='float', dest='y', default=1.0,
help='the y location')
parser.add_option('-r', action="store", type='float', dest="r", default=math.pi,
help='the orientation in radians')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description="test physics diff drive controller")
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/diffdrive_sample.env.xml',
help='Scene file to load (default=%default)')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Shows how to generate a 6D inverse kinematics solver and use it for getting all solutions.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--transparency',action="store",type='float',dest='transparency',default=0.8,
help='Transparency for every robot (default=%default)')
parser.add_option('--maxnumber',action="store",type='int',dest='maxnumber',default=10,
help='Max number of robots to render (default=%default)')
parser.add_option('--manipname',action="store",type='string',dest='manipname',default=None,
help='name of manipulator to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Autonomous grasp and manipulation planning example.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",type='string',dest='scene',default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--nodestinations', action='store_true',dest='nodestinations',default=False,
help='If set, will plan without destinations.')
parser.add_option('--norandomize', action='store_false',dest='randomize',default=True,
help='If set, will not randomize the bodies and robot position in the scene.')
parser.add_option('--planner',action="store",type='string',dest='planner',default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Computes if an object is visibile inside the robot cameras.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/testwamcamera.env.xml',
help='Scene file to load (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
"Schunk Manipulation planning example\nFor a dual arm robot with Schunk LWA3 arms, plan trajectories for grasping an object and manipulating it on a shelf."
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/dualarmmanipulation.env.xml',
help='Scene file to load')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description=
'Shows how to generate a 6D inverse kinematics solver and use it for getting all solutions.'
)
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--transparency',
action="store",
type='float',
dest='transparency',
default=0.8,
help='Transparency for every robot (default=%default)')
parser.add_option('--maxnumber',
action="store",
type='int',
dest='maxnumber',
default=10,
help='Max number of robots to render (default=%default)')
parser.add_option('--manipname',
action="store",
type='string',
dest='manipname',
default=None,
help='name of manipulator to use (default=%default)')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(description='Views a calibration pattern from multiple locations.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pa10calib.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--sensorname',action="store",type='string',dest='sensorname',default=None,
help='Name of the sensor whose views to generate (default is first sensor on robot)')
parser.add_option('--sensorrobot',action="store",type='string',dest='sensorrobot',default=None,
help='Name of the robot the sensor is attached to (default=%default)')
parser.add_option('--norandomize', action='store_false',dest='randomize',default=True,
help='If set, will not randomize the bodies and robot position in the scene.')
parser.add_option('--novisibility', action='store_false',dest='usevisibility',default=True,
help='If set, will not perform any visibility searching.')
parser.add_option('--noshowsensor', action='store_false',dest='showsensor',default=True,
help='If set, will not show the sensor.')
parser.add_option('--posedist',action="store",type='float',dest='posedist',default=0.05,
help='An average distance between gathered poses. The smaller the value, the more poses robot will gather close to each other')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description='Autonomous grasp and manipulation planning example.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/lab1.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--nodestinations',
action='store_true',
dest='nodestinations',
default=False,
help='If set, will plan without destinations.')
parser.add_option(
'--norandomize',
action='store_false',
dest='randomize',
default=True,
help=
'If set, will not randomize the bodies and robot position in the scene.'
)
parser.add_option('--planner',
action="store",
type='string',
dest='planner',
default=None,
help='the planner to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
def run(args=None):
"""Command-line execution of the example.
:param args: arguments for script to parse, if not specified will use sys.argv
"""
parser = OptionParser(
description='Simple cube assembly task using grasp sets.')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='data/hironxtable.env.xml',
help='Scene file to load (default=%default)')
parser.add_option('--manipname',
action="store",
type='string',
dest='manipname',
default='leftarm_torso',
help='The manipulator to use')
(options, leftargs) = parser.parse_args(args=args)
OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,
main,
defaultviewer=True)
from openravepy.misc import OpenRAVEGlobalArguments
def vararg_callback(option, opt_str, value, parser):
assert value is None
value = parser.rargs[:]
del parser.rargs[:len(value)]
setattr(parser.values, option.dest, value)
if __name__ == "__main__":
parser = OptionParser(
description='OpenRAVE %s' % openravepy.__version__,
version=openravepy.__version__,
usage='%prog [options] [loadable openrave xml/robot files...]')
OpenRAVEGlobalArguments.addOptions(parser, testmode=False)
parser.add_option(
'--database',
action="callback",
callback=vararg_callback,
dest='database',
default=None,
help=
'If specified, the next arguments will be used to call a database generator from the openravepy.databases module. The first argument is used to find the database module. For example: openrave0.9.py --database grasping --robot=robots/pr2-beta-sim.robot.xml'
)
parser.add_option(
'--example',
action="callback",
callback=vararg_callback,
dest='example',
default=None,
def spin(self):
parser = OptionParser(description='Openrave Velma interface')
OpenRAVEGlobalArguments.addOptions(parser)
(options, leftargs) = parser.parse_args()
self.env = OpenRAVEGlobalArguments.parseAndCreate(
options) #,defaultviewer=True)
self.openrave_robot = self.env.ReadRobotXMLFile(
'robots/barretthand_ros.robot.xml')
link = self.openrave_robot.GetLink(
"right_HandFingerOneKnuckleThreeLink")
col = link.GetCollisionData()
vertices = col.vertices
faces = col.indices
print "sampling the surface..."
points = surfaceutils.sampleMeshDetailedRays(vertices, faces, 0.001)
print "surface has %s points" % (len(points))
# vertices, faces = surfaceutils.readStl("klucz_gerda_ascii.stl", scale=1.0)
# points = surfaceutils.sampleMeshDetailedRays(vertices, faces, 0.002)
print len(points)
with open('points.txt', 'w') as f:
for pt in points:
p = pt.pos
f.write(
str(p.x()) + ' ' + str(p.y()) + ' ' + str(p.z()) + '\n')
call(["touch", "out_surf.off"])
call(["touch", "out_axis.off"])
call([
"/home/dseredyn/code/cocone/tightcocone/tcocone-linux", "-m",
"points.txt", "out"
])
calc_radius = False
points_medial = []
with open('out_axis.off', 'r') as f:
header = f.readline()
header_s = header.split()
p_count = int(header_s[1])
for i in range(0, p_count):
line = f.readline()
values = line.split()
center = PyKDL.Vector(float(values[0]), float(values[1]),
float(values[2]))
if calc_radius:
radius = None
for pt in points:
dist = (center - pt.pos).Norm()
if radius == None or radius > dist:
radius = dist
points_medial.append([center, radius * 2.0])
else:
points_medial.append([center, 0.001])
print len(points_medial)
# m_id = 0
# for p in points:
# m_id = self.pub_marker.publishSinglePointMarker(PyKDL.Vector(p[0], p[1], p[2]), m_id, r=0, g=1, b=0, namespace='default', frame_id='world', m_type=Marker.CUBE, scale=Vector3(0.005, 0.005, 0.005), T=None)
# m_id = 0
# for p in points_medial:
# m_id = self.pub_marker.publishSinglePointMarker(p[0], m_id, r=1, g=0, b=0, namespace='default', frame_id='world', m_type=Marker.SPHERE, scale=Vector3(p[1],p[1],p[1]), T=None)
m_id = 0
m_id = self.pub_marker.publishMultiPointsMarkerWithSize(
points_medial,
m_id,
r=1,
g=0,
b=0,
namespace='default',
frame_id='world',
m_type=Marker.SPHERE,
T=None)
# m_id = self.pub_marker.publishMultiPointsMarker(points_medial, m_id, r=1, g=0, b=0, namespace='default', frame_id='world', m_type=Marker.SPHERE, scale=Vector3(0.0005, 0.0005, 0.0005), T=None)
rospy.sleep(1)
exit(0)
import numpy, time, threading
from itertools import izip
import tf
import orrosplanning.srv
from orrosplanning.srv import IKRequest
import sensor_msgs.msg
import arm_navigation_msgs.msg
from arm_navigation_msgs.msg import ArmNavigationErrorCodes
import geometry_msgs.msg
import trajectory_msgs.msg
import kinematics_msgs.srv
if __name__ == "__main__":
parser = OptionParser(description='openrave planning example')
OpenRAVEGlobalArguments.addOptions(parser)
parser.add_option('--scene',
action="store",
type='string',
dest='scene',
default='robots/pr2-beta-static.zae',
help='scene to load (default=%default)')
parser.add_option(
'--ipython',
'-i',
action="store_true",
dest='ipython',
default=False,
help='if true will drop into the ipython interpreter rather than spin')
parser.add_option(
'--collision_map',
