SimpleRobotPlacement

The SimpleRobotPlacement component provides methods to calculate candidate robot placements (i.e. base poses) in order to grasp a given object. More...

Classes
class	SimpleRobotPlacement
	refer to SimpleRobotPlacement More...

Detailed Description

The SimpleRobotPlacement component provides methods to calculate candidate robot placements (i.e. base poses) in order to grasp a given object.

This component requires following properties:

• RobotName: The name of the robot
• RobotFilePath: Filepath of the VirtualRobot robot to use (relative to an armarx package).
• CollisionModel: The RobotNodeSet name to be used for collision testing with the environment.
• WorkspaceFilePaths: Paths to manipulability and reachability files (';' delimited). Each path is relative to an armarx package.

This component is a processing stage in the grasping pipeline run by the GraspingManager-Component. It receives an object instance id and a set of grasps (i.e. global tcp poses and -names) via an Ice interface method and returns a list of possible robot placements (i.e. global base poses). The generated robot placements are collisionfree between the collision model (given in the properties) in its default configuration and the collision model of the environment. The collision model of the environment is created via the WorkingMemory-Instance. Resulting robot placements and workspaceGrids are visualized via 'DebugDrawerUpdates'.