MANUAL GENERATION OF GRASP TABLE

1. Provide a collision mesh of the target object (as *.stl)

Most likely there already is a collada mesh (*.dae) available in cob_gazebo_objects. Thus you simply have to convert the mesh from *.dae to *.stl using MeshLab for example.

1. Open MeshLab -> File -> Import Mesh … -> select respective mesh [object_name].dae from cob_simulation/cob_gazebo_objects/media/models
2. File -> Export Mesh As … -> Save it as [object_name].stl within cob_manipulatiuon/cob_grasp_generation/files/meshes

2. Prepare a new grasp table

You need to provide a *.csv file of the name [gripper_type]_[object_name].csv at cob_manipulation/cob_grasp_generation/files/database/[object_name], where [object_name] is the same as for the collision mesh and [gripper_type] could e.g. be either sdh or sdhx (cob4-gripper). The *.csv file has the following layout (columns):

Notes:

• each ros specifies another grasps (make sure to increase id accordingly)
• the quaternion needs to be normalized, i.e. sqrt(qw² + qx² + qy² + qz²)!=1.0 (you might need to increase floating point precision to about 5 decimal digits. e.g. (0.0, 0.707, 0.0, 0.707) will throw an error; use (0.0, 0.707107, 0.0, 0.707107) instead!
• you can initialize a grasptable by copying from an existing database entry

3. Use blender for generating initial grasp poses easily

1. Open the Blender
2. Clear the scene by removing all objects: press a (select all the objects), Entf (delete), Enter (confirm)
3. Load the object: File -> Import -> STL (.stl) -> select [object_name].stl from cob_manipulatiuon/cob_grasp_generation/files/meshes (see step (1))
4. Load the gripper: File -> Import -> STL (.stl) -> select [gripper].stl, e.g. palm.stl from cob_common/cob_descriptions/meshes/cob4_gripper for sdhx (cob4-gripper)
5. Move the gripper to various grasp poses (do not move the object) by either using
   • g+x,g+y,g+z: for translation along x,y,z
   • r+x,r+y,r+z: for rotation around x,y,z
   • enter values directly
6. Transfer the values from the Blender (position in [m], use the Quaternion RotationMode from the Dropdown menue!) to the grasp table (pos in [mm]!)

4. Visualization of the grasps in rviz

1. roslaunch cob_grasp_generation show_grasp_rviz.launch gripper:=[gripper_type]
2. rosrun cob_grasp_generation show_grasps_rviz_client.py (then enter [object_name] and [gripper_type] when prompted)

5. Tune grasps

Optimize the grasp entries in the table by modifying the grasp pose and/or grasp joint config based on the rviz visualization. Add more grasps

Changelog for package cob_grasp_generation

0.7.9 (2024-02-19)

0.7.8 (2023-01-04)

0.7.7 (2022-07-29)

0.7.6 (2021-12-23)

• Merge pull request #150 from fmessmer/fix_pylint fix ci
• move messages to dedicated package
• Contributors: Felix Messmer, fmessmer

0.7.5 (2020-12-03)

• Merge pull request #148 from fmessmer/test_noetic test noetic
• ROS_PYTHON_VERSION conditional dependency
• use setuptools instead of distutils
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.7.4 (2020-03-18)

• Merge pull request #145 from fmessmer/feature/python3_compatibility [ci_updates] pylint + Python3 compatibility
• Use six.moves.input for all uses of raw_input/input
• fix pylint errors
• python3 compatibility via 2to3
• Contributors: Felix Messmer, Loy van Beek, fmessmer

0.7.3 (2019-12-04)

0.7.2 (2019-05-20)

0.7.1 (2018-01-07)

• Merge pull request #134 from ipa320/kinetic_release_candidate Kinetic release candidate
• Merge pull request #132 from ipa-fxm/kinetic_dev [kinetic] updates from indigo_dev
• Merge branch 'indigo_dev' of github.com:ipa320/cob_manipulation into kinetic_dev Conflicts: .travis.yml cob_kinematics/ikfast/src/ikfast_lbr.cpp cob_kinematics/ikfast/src/ikfast_ur10.cpp cob_kinematics/ikfast/src/ikfast_ur5.cpp cob_kinematics/package.xml cob_kinematics/ros/bin/genikfast.py cob_kinematics/ros/src/ikfast_plugin.cpp cob_kinematics/ros/src/urdf_openrave.cpp
• document manual generation of grasp table (#127)
  • document manual generation of grasp table
  • document manual generation of grasp table 2
  • Update README.md
  • Update README.md
• Merge pull request #126 from ipa-fxm/revive_pick_place separate openrave independent part query_grasp
• add trivial grasp table for corn_flakes_package
• add coordinates systems to rviz config
• resolve side-dependend joint_names and tune grasp-open config
• tune grasptable
• fix mimic joints and quaternion normalization
• add show_grasp_rviz
• move meshes and kit grasptables
• more consistent naming
• separate openrave independent part query_grasp
• Merge pull request #124 from ipa-fxm/update_maintainer update maintainer
• update maintainer
• Merge pull request #120 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, Richard Bormann, ipa-fxm, ipa-rmb-pz, ipa-uhr-mk

0.7.0 (2017-07-31)

0.6.5 (2017-07-31)

• make pick and grasp more robot-agnostic
• Contributors: ipa-fxm

0.6.4 (2016-04-01)

0.6.3 (2015-08-31)

0.6.2 (2015-08-29)

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