Provides methods for grasp planning purposes. More...

Classes
class	GraspingManager
	The GraspingManager class. More...

Detailed Description

Provides methods for grasp planning purposes.

The GraspingManager implements a grasping pipeline containing the following stages (each stage is implemented by the respective Component in the parathesis):

Grasp generation (SimpleGraspGenerator)
Grasp filtering (GraspSelectionManager)
Robot placement (SimpleRobotPlacement)
Finding a target configuration (RobotIK)
Trajectory planning (MotionPlanningServer)

The stages are executed sequentially. The Input for the grasping pipeline is a graspable object. The output contains trajectories in configuration and pose space to execute a grasp for the given object.

The GraspingManager requires the following properties:

a list of robotnodeset names (; delimited) for IK calculations
a list of workspace files (; delimited) for reachability considerations

Note: The Armar3Simulation scenario must be active before running the GraspingManager scenario.

Classes

Detailed Description