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urdf2graspit package from graspit_tools repograsp_planning_graspit grasp_planning_graspit_msgs grasp_planning_graspit_ros graspit_tools jaco_graspit_sample urdf2graspit |
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Package Summary
| Tags | No category tags. |
| Version | 1.2.0 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/JenniferBuehler/graspit-pkgs.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-27 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Conversion from URDF to the GraspIt! format.
Additional Links
No additional links.
Maintainers
- Jennifer Buehler
Authors
- Jennifer Buehler
urdf2graspit
Please refer to the wiki for more information.
CHANGELOG
Changelog for package urdf2graspit
1.2.0 (2018-01-06)
1.1.3 (2018-01-05)
- Adaptation for graspit upstream merge
- Fixed bug for issue #19
- Fixed problem with contact points in which names not accepted by SoName would then not be found in the MarkerSelector
- Fixed bug: transform to DH world frame in Urdf2Graspit.cpp
- Added urdf viewer launch file for jaco
- Rotation axis correction was the wrong way, now negate_joint_movement may not be necessary for some hands (or become necessary for others
- More testing changes
- Backup
- Fixed issue with thumb in allegro but still not displaying properly in GraspIt simulator
- Improved debugging abilities with viewer
- Fixed missing white spaces in XMLFuncs.cpp generation of inertia
- Catching case in urdf2graspit for hands with no inertial. Fixes #19
- Changed link/finger names for new jaco
- Contributors: Jennifer Buehler
1.1.1 (2016-08-07)
- Fix cylinder and box orientations
- Contact generation bug fixed
- Corrected urdf2graspit contact generation to place cylinder at right spot in Baxter
- Contributors: Jennifer Buehler
1.1.0 (2016-07-26)
- minor fix in generating eigen.xml
- Indented xml
- Jenkins fix
- Updated command line parsing in grasp_planning.cpp and adjusted some parameters for prismatic joints in urdf2graspit
- Fix minor print bug for fixing joints
- Contributors: Jennifer Buehler
1.0.0 (2016-06-08)
- Removed direct Qt dependencies from urdf2graspit, as this is now in urdf2inventor
- Now working with new urdf2inventor, tested on jaco
- Fixed some bugs in DH parameter computation
- Can now be used to display local coordinate axes of DH parameters, useful for debugging
- Allows to save the contacts file as different filename
- Contact selection is now done in separate postprocessing step
- Contacts can now be generated in a post-processing step.
- Contacts can now be generated in a post-processing step. This commit includes the old code within ifndef 0 directives
- urdf2graspit now depends on urdf2inventor
- Contributors: Jennifer Buehler
0.1.5 (2016-04-02)
- Small fix: create mesh directory if the mesh filename implies more directories
- Contributors: Jennifer Buehler
0.1.3 (2016-03-08)
- changed catkin_package system depends to names in rosdep
- added launch directory installs
- Contributors: Jennifer Buehler
0.1.2 (2016-03-04)
0.1.0 (2016-03-02)
- made ivcon external
- roslinted
- Contributors: Jennifer Buehler
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| graspit_tools |
Launch files
- launch/example_urdf2graspit_jaco.launch
-
- urdf_file [default: $(find jaco_description)/urdf/jaco_robot.urdf]
- output_directory
- hand_root_link [default: jaco_6_hand_limb]
- finger_joint_names [default: jaco_finger_joint_0 jaco_finger_joint_2 jaco_finger_joint_4]
- scale_factor [default: 1000]
- output_material [default: plastic]
- launch/graspit_contacts_generator.launch
-
- urdf_file
- output_directory
- filename [default: ]
- hand_root_link
- finger_joint_names
- scale_factor
- negate_joint_movement [default: false]
- display_dh_axes [default: true]
- visual_corr_axis_x [default: 1]
- visual_corr_axis_y [default: 0]
- visual_corr_axis_z [default: 0]
- visual_corr_axis_angle [default: 0]
- launch/example_jaco_urdf_view.launch
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- urdf_file [default: $(find jaco_description)/urdf/jaco_robot.urdf]
- iv_or_link [default: jaco_6_hand_limb]
- join_fixed_links [default: true]
- rotate_axes_z [default: true]
- display_axes [default: true]
- axes_radius [default: 0.001]
- axes_length [default: 0.015]
- visual_corr_axis_x [default: 1]
- visual_corr_axis_y [default: 0]
- visual_corr_axis_z [default: 0]
- visual_corr_axis_angle [default: 0]
- launch/example_graspit_contacts_jaco.launch
-
- urdf_file [default: $(find jaco_description)/urdf/jaco_robot.urdf]
- output_directory
- filename [default: ]
- hand_root_link [default: jaco_6_hand_limb]
- finger_joint_names [default: jaco_finger_joint_0 jaco_finger_joint_2 jaco_finger_joint_4]
- scale_factor [default: 1000]
- display_dh_axes [default: true]
- launch/urdf2graspit.launch
-
- urdf_file
- output_directory
- hand_root_link
- finger_joint_names
- scale_factor
- negate_joint_movement [default: false]
- output_material [default: plastic]
- launch_prefix [default: ]
- visual_corr_axis_x [default: 1]
- visual_corr_axis_y [default: 0]
- visual_corr_axis_z [default: 0]
- visual_corr_axis_angle [default: 0]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged urdf2graspit at Robotics Stack Exchange
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