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Manipulation Tab Tutorial

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jc15100 edited this page Mar 7, 2013 · 6 revisions

The manipulationTab example shows how to test any implemented manipulation technique in the DART environment. Currently, a basic Jacobian-based grasping algorithm has been implemented with the latest huboplus model. It is designed to only work with the following two world files: manipulationTab_World.urdf and manipulationTab_World_wheel.urdf.

Steps

  1. Build and run the manipulationTab application.

  2. Load one of the two specified world files located in the scenes folder by choosing File | Load from the menu or clicking the Load button in the tool bar.

  3. Click on Manipulation on the bottom of the GRIP interface to see the custom interface created by this example app. It has 6 buttons and a check box option.

  4. Click Set Predef Start to set the predefined start configuration for the grasping problem. This will set the robot's right arm to a predefined configuration. To set a custom start configuration, move to the Inspector tab and change the robot's joint values to the desired values. Then, click on Set Custom Start to store such configuration.

  5. Click Show Start Conf to see stored start configuration.

  6. Click the target object in the world's tree view to the right of the interface. Note that every time a different object is clicked, such object is set as the target object to be grasped. DO NOT SELECT ground OR table AS TARGET OBJECTS

  7. Click Plan Grasping to start the offline grasping process. The robot's arm will be moved to the calculated grasping point via an inverse Jacobian. Once there, the hand will be closed until most of the links are in collision with the target object. The robot will move the grasped object to different locations and it will open its hand at the end in order to drop the object.

  8. Once the planner returns - should take less than 3 secs-, you can click the Play button located in the top part of the interface to start the dynamic simulation.

General Notes

  • Before starting the simulation, you can click the check box Show Grasp Markers to show the computed grasping point in the target object.

  • To test the manipulation technique on different target objects, open the manipulationTab_World.urdf in a text editor. Uncomment any of the included urdf models. Please only limit the number of objects to grasp to 1 as the inverse Jacobian does not check for collisions in the motion path.

  • The file _manipulationTab_World_wheel.urdf _ contains a model of a car's driving wheel. The robot will try to grab and pull such wheel in order to make it spin.

  • Feel free to explore the source code for implementation details.

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