OPENRAVE TUTORIAL. Robot Autonomy Spring 2014
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1 OPENRAVE TUTORIAL Robot Autonomy Spring 2014
2 OPENRAVE Stands for: Open Robotics Automation Virtual Environment All-in-one Robotics Package Contains: Kinematics (forward, inverse, velocity, etc.) Collision Detection (Rays, points, boxes, spheres, triangles, normals, etc.) Simulation (simple physics, controllers, sensors) Algorithms (grasping, planning, etc.) Plugins (rendering, controlling, augmenting system)
3 The Environment KINEMATICS
4 KINEMATICS The Environment Robot Kinbody
5 KINEMATICS The Environment s
6 KINEMATICS The Environment s
7 KINEMATICS Environment Scene Graph T link T geometry T cup Kinbody 1 cup cup Geometry cup Environment Root T neck neck_pan T herb Kinbody 2 herb base right_wam_0 wam0 right_wam_1 T base
8 KINEMATICS Anatomy of a Transform Transform Rotation T R 4 4 = R d 0 1 R xx R yx R zx R R 3 3 = R xy R yy R zy R xz R yz R zz Translation d R 3 1 = d x d y d z
9 KINEMATICS Anatomy of a Transform R y T R x d R z Origin
10 KINEMATICS Applying Transforms: Forward Kinematics Kinematic chains T W N = T N 1 T N 2 T 1 T 1 T 2 T N 1 T N W
11 JOINTS Axis of rotation T A T J T B A θ B
12 KINBODIES Base
13 CONFIGURATIONS/DOFS q = q 0 q 1 q 2 q 3 q 1 q 2 q 0 Base q 3
14 ACTIVE DOFS q active = q 0 q 1 q 2 q 1 q 2 q 0 Base
15 ROBOTS End Effector Base Sensor
16 FORWARD KINEMATICS Given q, where is the end effector? (or some other point on the robot)? End Effector Base Sensor
17 INVERSE KINEMATICS Given an End Effector position, what are the joint angles? (There may be many solutions) End Effector q? Base T desired Sensor
18 INVERSE KINEMATICS # Generate an inverse kinematics model ikmodel = databases.inversekinematics.inversekinematicsmodel(robot, iktype=ikparameterization.type.transform6d) # If one hasn t been generated yet, it can be created by OpenRAVE if not ikmodel.load(): ikmodel.autogenerate() # Gets all the collision free IK solutions for the robot solutions = ikmodel.manip.findiksolutions(desiredeetransform, IkFilterOptions.CheckEnvCollisions) print found %d solutions %len(solutions) # Sets the active DOFS of the robot to the first IK solution found newrobot.setdofvalues(solutions[0],ikmodel.manip.getarmindices())
19 COLLISION CHECKING # Decide whether or not two bodies in the environment collide collides = env.checkcollision(body1,body2) # Get a collision report collides = env.checkcollision(body1,report) # Iterate through collision contacts and print their positions # and normals for c in contacts: print c.pos print c.norm
20 LOADING # Load a robot env.load( robots/barrettwam.robot.xml ) # Get the robot from the environment robot = env.getrobots()[0] # Load an object mug = env.load( data/mug1.kinbody.xml )
21 XML FORMAT <KinBody> <modelsdir>../mymodels</modelsdir> <Body> <Geom type="box"> <render>kitchen/myfile.wrl</render> </Geom> </Body> </KinBody>
22 XML FORMAT <Environment> <!-- set the background color of the environment--> <bkgndcolor> </bkgndcolor> <!-- set the initial camera translation--> <camtrans> </camtrans> <!-- set the initial camera rotation specified by rotation-axis--> <camrotaxis> </camrotaxis> <!-- import the segway model and place it somewhere--> <KinBody file="data/segway.kinbody.xml"> <Translation> </Translation> </KinBody> <!-- import a robot file and add an additional body for a cylindrical base--> <Robot file="../../robots/barrettwam.robot.xml" name="barrettwam"> <KinBody> <Translation> </Translation> <Body type="dynamic"> <Geom type="cylinder"> <RotationAxis> </RotationAxis> <radius>0.08</radius> <height>0.6</height> <diffusecolor> </diffusecolor> <Translation> </Translation> </Geom> </Body> </KinBody> <translation> </translation> </Robot> <!-- add the floor as a box--> <KinBody name="floor"> <!-- floor should never move, so make it static--> <Body type="static"> <Geom type="box"> <extents> </extents> <diffusecolor>.6.6.6</diffusecolor> <ambientcolor> </ambientColor> </Geom> </Body> </KinBody> </Environment>
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