This Software takes as INPUT:
- List of grasps with corresponding object identifier (XML)
- List of objects with corresponding global symmetries (XML)
- Configuration file for Robotic Hand with corresponding Hand symmetries (XML)
The Software produces as OUTPUT:
- List of grasps produced by symmetry operations (XML, simple TXT, GraspIt! compatible XML)
Dependencies:
- Boost (1.46.1)
- Eigen3 (3.0.5)
- tinyXML2
Comments:
- Grasps are defined as a sequence of end-effector poses and hand joints
- Grasps can be loaded and exportet from/to GraspIt! .XML files