Open rdiankov opened 11 years ago
It doesn't make sense to overload the robot manipulator class with methods that extend beyond the robot definition.
We've been thinking about adding a C++ API to the databases for some time now, and currently we're offering the inversekinematics database through the "ikfast" module. Perhaps in the future, we might develop a more formal API for accessing data. We definitely have to think about how the C++ and python worlds will interact with each other. Any comment in this direction are more welcome.
Jorge Munoz
I totally agree about that. It can be a great advance to have access to databases from c++.
About the location of the API call, as I see, a function taking a target in workspace and giving a solution in configuration space is inverse kinematics, so a good place to be for that function maybe the ikfast module?
the ikfast module just creates the IkSolver? instance, so IK can be used without knowing the existence of ikfast. So there are better places to put the grasping module other than in the ikfast module.
Please check out the ManipulationIKGoalSampler class, I think this is the closest type of structure you would want for the grasping:
http://openrave.org/en/coreapihtml/classOpenRAVE_1_1planningutils_1_1ManipulatorIKGoalSampler.html
Please think about sample code that the user has to type in order to:
So, I understand that ManipulationIKGoalSampler (correct me if wrong) makes pairs with workspace transforms and c-space coordinates. After that its possible to locate the coordinates by finding its workspace pair at the table.
Are you thinking in a kind of gripper inverse kinematics in the ikfast way or in the actual grasping way?
ikfast is easy for robots with one end effector like arms, but i see difficult(not impossible) if we have more than one end effector like a gripper, and furthermore, in the case of high dof grippers (like a hand). Maybe we can do something by taking every finger as an end effector? (just wondering) For grasping we have the stability check involved after, but it can be easy if the first problem is solved.
In the other hand there is the aproximation-dir->close-fingers way used actually at grasping database.
About last questions. The plan is to use python or a C++ lib for the database?
munoz.yanez@gmail.com:
Rosen Diankov:
munoz.yanez@gmail.com