This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under widely different scenarios with minimal user input, thus reducing the operator's cognitive load. The developed tools include (1) plugin-based components that make it easy to extend default capabilities and to use third-party grasp libraries, (2) An object-centric way to define task constraints, (3) A user-friendly Rviz interface to use the grasp planner utilities, and (4) Interactive tools to use perception data to program a task. We tested our framework on a wide variety of robot simulations.
翻译：本文件介绍一套软件模块ADAMANT, 这套软件模块为现有的机器人规划和控制软件框架提供掌握规划能力。我们介绍的工作使用户能够调整操作任务,在极为不同的情景下使用操作任务,同时提供最低限度的用户投入,从而减少操作员的认知负荷。开发的工具包括:(1) 基于插件的部件,便于扩展默认能力和使用第三方控制图书馆;(2) 以物体为中心的界定任务限制的方法;(3) 方便用户的Rviz接口,以使用抓取规划员的公用设施;(4) 交互式工具,使用感知数据来编程一项任务。我们在多种机器人模拟中测试了我们的框架。
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