OpenRAVE Documentation

Grasper - grasper

Type:module
Plugin:grasper
Interface Author:
 Rosen Diankov

Used to simulate a hand grasping an object by closing its fingers until collision with all links.

Grasper Commands

ComputeDistanceMap

Computes a distance map around a particular point in space


ConvexHull

Given a point cloud, returns information about its convex hull like normal planes, vertex indices, and triangle indices. Computed planes point outside the mesh, face indices are not ordered, triangles point outside the mesh (counter-clockwise)


GetStableContacts

Returns the stable contacts as defined by the closing direction


Grasp

Performs a grasp and returns contact points


GraspThreaded

Parllelizes the computation of the grasp planning and force closure. Number of threads can be specified with ‘numthreads’.


help

display help commands.


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