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)

• boost revision
• migration to package format 2
• remove trailing whitespaces
• remove obsolete autogenerated mainpage.dox files
• sort dependencies
• review dependencies
• Contributors: ipa-fxm

0.6.1 (2015-06-17)

• beautify CMakeLists
• fixes, hacks and helpers for cob4-pick-place
• gripper -> gripper_type
• consider different grippers in cob_grasp_generation
• rename manipulator in collada description
• add gripper to action
• rename environment file
• renamed grasptables
• no timestamp
• new launch file exporting env variable OPENRAVE_DATA
• add model - and fixes for latest openRAVE and collada compatibility
• fix trajectory message
• minor restructuring
• missing dependency
• Contributors: ipa-fxm

0.6.0 (2014-09-18)

• Merge branch 'hydro_dev' into hydro_release_candidate
• Merge branch 'hydro_dev' into hydro_release_candidate
• 0.5.1
• add changelogs
• Contributors: Florian Weisshardt, ipa-fxm

0.5.2 (2014-08-28)

0.5.1 (2014-03-26)

• Merge branch 'hydro_dev' into hydro_release_candidate
• use BIN_DESTINATION
• beautify install tags and correct PYTHON_DESTINATION
• update package maintainer
• Merge branch 'hydro_dev' into hydro_release_candidate
• install tags
• catkin_lint and install tags
• add changelogs
• move cob_mmcontroller + groovy_updates
• fix deps
• pick_place now works with released version of moveit
• fixes for changed message types
• catkinized
• manually remove spreizgriffe
• removed bottom grasps from grasp tables
• generating new grasps
• better grasptable for instanttomatosoup
• better grasptable for hotpot2
• better grasptable for hotpot
• fixes after merge
• adaptions, fixes and new generation_strategy
• cleaning up
• restructuring folders
• new action_clients
• combined action_server
• new actions
• delete obsolete files
• new grasp_tables
• minor fixes
• additional params in action (threshold,grasp_id,num_grasps) + adaptions + some improvements
• close fingers a little more so that objects dont slip through
• fully implemented as class + improvements
• merge with ws
• Merge branch 'pick_n_place' of https://github.com/ipa-fmw-ws/cob_manipulation into pick_n_place
• remove obsolete sleep
• server now uses class from or_grasp_generation and a threshold
• added threshold, num_grasps and grasp_id for grasp database
• start implementation as class
• remove unused parameter
• improved show grasp
• removed some unfeasible grasps manually
• Removed Salt textures
• Added service server for showing grasps
• showgrasp functionality added
• sort call fixed, hardcoded paths fixed
• fixed sorting algorithm
• added hotpo2 to DB
• added hotpot to DB
• new DB for salt and tomatosoup
• pre_joint_config changed
• removed wrong DBs
• preshapes set to cylindric only
• fixing negative zero values
• Merge branch 'pick_n_place' of github.com:ipa-fxm/cob_manipulation into pick_n_place
• working on grasp view
• added grasptable for instanttomatosoup
• find package_paths using roslib
• Merge branch 'pick_n_place' of https://github.com/ipa-fmw-ws/cob_manipulation into pick_n_place
• add new db fruittea
• Todo added
• Merge remote-tracking branch 'origin-fxm/pick_n_place' into pick_n_place
• new structure
• objects now created dynamically from a mesh
• objects removed from scene
• fixed output for action server
• fixed naming of grasp_generation action
• removed tmp files
• added hotpot2
• new object hotpot and hotpot2
• saltcube with new preshapes
• db hotpot added, new preshapes
• first try with openrave
• first database for new meshes
• small changes
• kinbody for new meshfiles without scale
• modified to work with the new mesh files now
• database generated for transformed mesh file
• objects are now taken from cob_pick_place_action
• check if db exists for specific object before start planning with openrave
• output now a grasp list
• hardcoded paths fixed
• latest commit
• created with service call
• client can use object_id now for service calls
• moved to src
• service server call is working now
• salt xml for openrave
• salt mesh for testing
• added scene
• runs independently now
• clean up code
• README file added
• changed serice files from src to scripts
• new package for grasp_generation action
• Contributors: Florian Weisshardt, Jan Fischer, Witalij Siebert, ipa-fxm