Examples

Examples

There are three simple examples implemented in python and in matlab. They are located in comps/examples/python and comps/examples/matlab. The examples are:

1. Reaching - Herb2 will reach for a bottle on the counter using two TSRs. (example_reaching.*)
2. Door opening - Herb2 will open the door of a small refrigerator using a TSR Chain. (example_dooropening.*)
3. Box Lifting - Herb2 will lift a box while obeying closed-chain and pose constraints specified as TSRs. (example_liftbox.*)

You must set your python and matlab paths as described here before running the examples. Run the python examples by going to comps/examples/python and doing:

 python [EXAMPLE_NAME].py

You must launch these examples from the comps/examples/python directory because the data paths in the examples are relative to this directory.

To run the matlab examples, first cd to comps/examples/matlab and launch openrave. Again, openrave must be launched from this directory because the data paths in the examples are relative to this directory. After openrave has launched, execute comps/examples/matlab/[EXAMPLE_NAME].m in Matlab.