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urdf2graspit package from graspit_tools repo

grasp_planning_graspit grasp_planning_graspit_msgs grasp_planning_graspit_ros graspit_tools jaco_graspit_sample urdf2graspit

ROS Distro
indigo

API Docs
Browse Code

Package Summary

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
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Conversion from URDF to the GraspIt! format.

Maintainers

  • Jennifer Buehler

Authors

  • Jennifer Buehler
urdf2graspit/README.md

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

Package Dependencies

Deps Name
roscpp
urdf
eigen_conversions
urdf2inventor
urdf_viewer
baselib_binding
roslint
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
graspit_tools

Launch files

  • 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/example_jaco_urdf_view.launch
      • 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_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/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.

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