ADAMANT: A Pipeline for Adaptable Manipulation Tasks

TL;DR

ADAMANT is a flexible software framework that simplifies robot manipulation task adaptation across diverse scenarios, integrating grasp planning, perception, and user interfaces to reduce operator effort.

Contribution

It introduces a modular, adaptable pipeline with new tools for grasp planning, task constraint definition, and perception integration, enhancing robot manipulation flexibility.

Findings

Successfully tested on various robot simulations.

Enables minimal user input for task adaptation.

Supports integration of third-party grasp libraries.

Abstract

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.