Jennifer Buehler
Jennifer Buehler
Hi, just a note in case anybody stumbles over the same thing that I did. I am working on the newest version out of this repository so I guess that...
The ROS interface can now use ``moveit_msgs`` messages as they contain all information required now.
After getting rid of manipulation_msgs/household_msgs (see issue #32 and #40), now string IDs are used instead of int IDs. The code in `grasp_planning_graspit_ros/src/GraspItServices.cpp` (search for `GetModelNameAndType` in code) along with...
When migrating to moveit_msgs (instead of now deprecated household_objects_database_msgs and manipulation_msgs) a temproary "hack" was introduced: The pose of the object to be grasped is simply passed in the first...
The generation of contact points needs a review. I have been wanting to do this for a while now, but haven't had the time yet. The [contact patch generation](https://github.com/JenniferBuehler/graspit-pkgs/blob/964a334ee38a096647cb47439795636f44c5af91/urdf2graspit/src/ContactFunctions.cpp#L21) is...
The pre-grasp state computation (grasp_planning_graspit::EigenGraspPlanner::getPregraspJointDOFs) is not working reliably yet. It just opens the hand completely in the cases I tested so far. There are some problems with the GraspIt!...
At the moment, the interface of the Eigengrasp planner supports only single-threaded access. Specifically, after calling method EigenGraspPlanner::plan(), subsequent EigenGraspPlanner::getResults() will retrieve the last results produced by plan(). And there...
At the moment thread-related headers and shared pointers are defined by macros. It is possible to switch between C++11 threads or using the boost libraries instead. At some stage it...
So far, the energy of the simulated annealing search is passed on as grasp quality value. It is worth investigating if it's possible to compute other quality values. This issue...
Existing restrictions which may be eliminated: 1. At this stage, only the "Simulated Annealing" planning type is supported. "Loop" and "Multi-Threaded" can probably be integrated fairly easily. So far, no...