OpenRAVE Tutorial - Revision history

Lestergarcia: /* Testing OpenRAVE */

2011-03-14T18:40:22Z

Testing OpenRAVE

← Older revision		Revision as of 18:40, 14 March 2011
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	To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:		To see if openRAVE was correctly installed, we would like to check if all the plug-ins are present in our software, we do that by entering in Terminal the following:

	openrave ~~–listplugins~~		openrave -listplugins

	The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:		The Plug-ins are supposed to be at least 14, if is so, then check that examples have been included at installation. Please enter the following in Terminal:

	openrave.py ~~–listexamples~~		openrave.py --listexamples

	This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.		This examples are not crucial for the tutorial, but later, they will be useful for explaining some aspects of coding and creating openRAVE Demos.
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	These will be discussed in the next sections...		These will be discussed in the next sections...


	= Geometric Modelling =		= Geometric Modelling =

Lestergarcia: /* How to Install OpenRAVE DEPRICATED */

2011-03-14T18:35:02Z

How to Install OpenRAVE DEPRICATED

← Older revision		Revision as of 18:35, 14 March 2011
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	The rest is about to be LEARNED... Have some fun!!		The rest is about to be LEARNED... Have some fun!!

	= How to Install OpenRAVE ~~DEPRICATED~~=		= How to Install OpenRAVE =

	In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].		In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE]. In order to install easily, we have written a installation script that automates the process. Just download the script, change it to an executable, and run it.
	~~We also strongly recommend you~~ to download the ~~VisLab_Scripts (a suite of shell scripts that have been written at VisLab)~~, ~~in order~~ to ~~facilitate most of the work explained in this section~~. ~~To do so, just type in terminal the following:~~

	wget http://mediawiki.isr.ist.utl.pt/images/6/60/~~OR_Vislab_Edition~~.~~zip~~		wget http://mediawiki.isr.ist.utl.pt/images/1/1a/Install_openRAVE.tar.gz
	~~mkdir $HOME/Desktop/VisLab_Scripts/~~		tar -xzvf Install_openRAVE.tar.gz
	~~mv VisLab_Scripts~~.~~zip $HOME/Desktop/VisLab_Scripts/~~		rm Install_openRAVE.tar.gz
	~~cd $HOME/Desktop/VisLab_Scripts/~~		chmod u+x Install_openRAVE.sh
	~~unzip VisLab_Scripts~~.~~zip~~		Install_openRAVE.sh
	chmod u+x ~~-R $HOME/Desktop/VisLab_Scripts/~~
	~~rm VisLab_Scripts~~.~~zip~~
	cd

	~~== Install the Mathworks MATLAB DEPRICATED ==~~

	If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. ~~If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:~~

	~~$HOME/Desktop/VisLab_Scripts/Install_Matlab~~

	~~The last part of the configuration will be given in the Matlab Scripting Section.~~

	~~== Install the OpenRAVE VisLab Edition DEPRICATED ==~~

	As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

	~~$HOME/Desktop/VisLab_Scripts/Install_openRAVE~~

	Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.		Once you have finished with the installation, you should restart your PC, and then continue with this tutorial.

Lestergarcia: /* Install the OpenRAVE VisLab Edition */

2011-03-14T16:48:55Z

Install the OpenRAVE VisLab Edition

← Older revision		Revision as of 16:48, 14 March 2011
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	The last part of the configuration will be given in the Matlab Scripting Section.		The last part of the configuration will be given in the Matlab Scripting Section.

	== Install the OpenRAVE VisLab Edition ==		== Install the OpenRAVE VisLab Edition DEPRICATED ==

	As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:		As we referred at the beginning, OpenRAVE is an open-source package, and in order to properly install it, you have first to install the dependencies. This can be very messy, and for this reason we have created a shell script that will help you to almost automatically install the OpenRAVE (actually, you just have to submit your user password sometimes when installing dependencies). Notice that the process of installation can take around 45 mins. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

Lestergarcia: /* Install the Mathworks MATLAB */

2011-03-14T16:48:33Z

Install the Mathworks MATLAB

← Older revision		Revision as of 16:48, 14 March 2011
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	cd		cd

	== Install the Mathworks MATLAB ==		== Install the Mathworks MATLAB DEPRICATED ==

	If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:		If you wish to use the Matlab along with OpenRAVE, you must first have it properly installed. If you don't have it installed yet, in this little section you will find a shell script that simplifies a lot the installation in Linux. If you have already the VisLab_Scripts in your Desktop, in Terminal just type the following:

Lestergarcia: /* How to Install OpenRAVE */

2011-03-14T16:47:54Z

How to Install OpenRAVE

← Older revision		Revision as of 16:47, 14 March 2011
Line 23:		Line 23:
	The rest is about to be LEARNED... Have some fun!!		The rest is about to be LEARNED... Have some fun!!

	= How to Install OpenRAVE =		= How to Install OpenRAVE DEPRICATED=

	In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].		In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].

Lestergarcia: /* Scripting */

2011-03-07T15:57:04Z

Scripting

← Older revision		Revision as of 15:57, 7 March 2011
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	Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.		Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.


			We present some Demos here:

			'''Mobile Robot'''. In this demo, we have reproduced the ISR 7th flour. and we have mounted the Baltazar Robot on a segway, so it can translate throughout the corridors of the environment.


			'''Planning & Manipulation'''.


			'''Grasping'''.


			'''Mobile Manipulation'''.


			'''Human Imitation'''.

	= Interfacing Simulations =		= Interfacing Simulations =

Lestergarcia: /* How to Install OpenRAVE */

2011-01-20T14:52:27Z

How to Install OpenRAVE

← Older revision		Revision as of 14:52, 20 January 2011
Line 25:		Line 25:
	= How to Install OpenRAVE =		= How to Install OpenRAVE =

	In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current ~~normal~~ version of OpenRAVE, please read the ~~section Install~~ OpenRAVE ~~Normal Edition~~.		In this section we will describe how to easily install the OpenRAVE VisLab Edition. We call it VisLab Edition, because some plug-ins have been modified for internal purposes and, also, some models have been added to the original version of OpenRAVE. In case you want to Install the current original version of OpenRAVE, please read the [http://openrave.programmingvision.com/index.php/Main_Page official site of OpenRAVE].
	We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:		We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

Lestergarcia: /* How to Install OpenRAVE */

2011-01-20T14:41:20Z

How to Install OpenRAVE

← Older revision		Revision as of 14:41, 20 January 2011
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	We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:		We also strongly recommend you to download the VisLab_Scripts (a suite of shell scripts that have been written at VisLab), in order to facilitate most of the work explained in this section. To do so, just type in terminal the following:

	wget http://mediawiki.isr.ist.utl.pt/images/5/5e/~~VisLab_Scripts~~.zip		wget http://mediawiki.isr.ist.utl.pt/images/6/60/OR_Vislab_Edition.zip
	mkdir $HOME/Desktop/VisLab_Scripts/		mkdir $HOME/Desktop/VisLab_Scripts/
	mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/		mv VisLab_Scripts.zip $HOME/Desktop/VisLab_Scripts/

Lestergarcia at 16:22, 11 January 2011

2011-01-11T16:22:44Z

← Older revision		Revision as of 16:22, 11 January 2011
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	So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!		So, have you get the appetite? Yes?, well, now let's learn how to create some simulations!!!

	== Geometric Modelling ==		When experimenting with simulations in OpenRAVE, mainly we have the following stages:

			# '''Geometric Modelling'''.
			# '''Knowledge base generation'''.
			# '''Scripting'''.
			# '''Interfacing Simulations'''.

			These will be discussed in the next sections...

	~~When experimenting with simulations in OpenRAVE, mainly we have the following stages:~~

	~~# '''~~Geometric Modelling~~'''. Here is where you create your enviroment (scenario), and create the Robots and the objects.~~		= Geometric Modelling =
	# '''Knowledge base generation'''. When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be discused in other section.
	# '''Scripting'''. Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.
	# '''Interfacing Simulations'''. We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

	~~In this section of~~ the tutorial~~, we will focus on~~ the ~~'''~~Geometric Modelling~~'''.~~		Here is where you will learn how to create your enviroment (scenario), and create the Robots and the objects. Please follow the tutorial in the next link
			[[Geometric Modelling in OpenRAVE]]

	~~In OpenRAVE, geometric models are xml files that describe the geometry, and configuration of objects in the simulations. We distinguish four four kind of models:~~

	~~# '''Objects'''. These are the simpler elements of an environment. my_object.kinbody.xml~~		= Knowledge Base Generation =
	~~# '''Mechanisms'''. These are also objects, but the special characteristic, is that they have relative movements between links, specially if they are open-chain mechanisms. my_mechanism.kinbody.xml~~
	# '''Robots'''. These are special xml files, and their internal structure is conformed by one or several mechanisms. They also describe which links are active when computing manipulation tasks. my_robot.robot.xml
	~~# '''Environments'''. These xml files hold the entire description of how the 3D world is structured. They load the objects, and robots that will play a roll in the simulation. my_environment.env.xml~~

	~~Is very inportant for you to know~~ that~~, if the model~~ that ~~you want to use already exists~~ in the ~~library~~, ~~you don't have to model it again~~, ~~just use the existing one. So~~, ~~where are the models? ..~~.~~In OpenRAVE we have three main directories were~~ the ~~models are allocated~~.		'''...This Section is not available yet'''.
			When Rosen Diankov created OpenRAVE, he designed its structure in such a way that there were some modules (plug-ins) that automatically generate some databases in off-line mode. Some examples of these data bases, are the inverse kinematics, the grasping plug-in, reachability and inverse reachability computation, detectability and others. More about the knowledge base generation will be disused in other section.

	* /usr/local/share/openrve/data/		= Scripting =
	* /usr/local/share/openrve/robots/
	* /usr/local/share/openrve/models/

	~~In the first and in the second directories~~, ~~you will find mixed models of objects~~, ~~robots and environments~~, ~~and~~ in ~~the third~~, you just will find geometric description files with extension .wrl (VRML 97) and .~~iv (Open Inventor)~~.		'''...This Section is not available yet'''.
			Of course, if we want to run some special simulation, we have to code it. This can be done in [http://www.python.org/ Python] language, in [http://www.mathworks.com/ Matlab] Scripts, in [http://www.gnu.org/software/octave/ Octave] Scripts, or ultimately in C++.

	~~If you are using the VisLab Edition, then you will also have the extra directory:~~

	* /usr/local/share/openrve/Vislab/		= Interfacing Simulations =

	~~There~~, ~~you will find the models of the typical objects~~ and the ~~robots that are used at the VisLab, like Baltazar, Chico, Vizzy, and some toys~~.		'''...This Section is not available yet'''.
			We also want to try our experiments in real Robots, and to do so, we can interface our simulation environment with the Robots. This is done with [http://www.ros.org/wiki/ ROS].

Giovanni Saponaro at 15:31, 11 January 2011

2011-01-11T15:31:18Z

← Older revision		Revision as of 15:31, 11 January 2011
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	OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.		OpenRAVE was founded by [http://www.programmingvision.com/ Rosen Diankov] at the Quality of Life Technology Center in the Carnegie Mellon University Robotics Institute. It was inspired from the RAVE simulator James Kuffner had started developing in 1995 and used for his experiments ever since. The OpenRAVE project was started in 2006 and is a complete rewrite of RAVE. The main goal with OpenRAVE is to create a planning architecture that would give robotics researchers an easy open-source interface to control their robots both in simulation and in the real-world without having to worry about the small details.

	== Foreword ==		= Foreword =

	First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.		First of all, this is an unofficial tutorial, written at VisLab in order to facilitate the usage of this tool.