Software capabilities:
Perform a grasp in simulation and read out contact points, contact normals and mesh/pointcloud for template generation. Contact points can be clustered and used for Quality Measure Computation.
Dependencies:
qhull
vrep
ROS
Installation of qhull:
git clone https://github.com/xelda1988/qhull-2012.1.git
mkdir build && cd build
cmake ..
make
Installation of the Project GraspQualityMetrics:
- In CMakeLists modify Line 14: SET(qhullDir "")
Needs:
Scene containing robotic hand and a floor (if gravity on)
Functions:
Library GraspQualityMetrics
computeGraspWrenchSpace
visualizeGraspWrenchSpace
computeTaskWrenchSpace
visualizeTaskWrenchSpace
computeQualityMeasure
Module ContactPointGeneration
setGripperPose
setGripperJoints
setGripperTorques
loadObjectFromFile
setObjectPose
setObjectMass
setObjectFriction
detectGraspEquilibrium
getObjMesh(in new Gripper frame)
getContactPoints
getContactNormals
getContactForces
getObjCenter
getTactileMatrices
getGripperJoints