graspPlugin for Choreonoid

The Planner bar, titled “= Planner =” in the Choreonoid toolbar, is the toolbar used to operate the Grasp Plugin.

See Grasp Plug-in.

Each of its functions are described below.

SetObject

The model selected in the Item column is set as the object to be grasped.

SetRobot

The robot selected in the Item column is set as that which will grasp the object.

Grasp

Starts the grasp planning.

Place

The model being grasped is placed in any location by clicking the location and then pressing Place (currently under development).

Pick&Place

Consecutively executes Grasp and Place (currently under development).

Stop

Suspends grasp planning.

SetEnv

The model selected in the Item column is set as the environmental model used for avoiding obstacles. It is used with PRM.

RemoveEnv

The model selected in the Item column is excluded from the environmental model. It is used with PRM.

SaveGraspPattern

Prepares a data file for the grasping stance (currently being developed). This data file is used in the grasping plan of the OpenRTM version.

SelectGraspPattern

Selects the grasping pattern in the Grasp Plugin.

DisplayGRC

Outputs the positioning stance of the Grasping Rectangular Convex (GRC) in the message column.

CloseFingers

This operation will close the fingers of the robot (currently being developed) (during manual settings, for example).