Stability analysis - Githubissues

graspit-simulator / graspit

The GraspIt! simulator

http://graspit-simulator.github.io/

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Stability analysis #154

Closed mkghaas closed 5 years ago

mkghaas commented 5 years ago

Addition of Grasp Stability Analysis work to the main codebase.

Main additions:

an option in the 'Grasp' menu opening the new Grasp Stability Analysis dialog
the GraspSolver class, which provides a framework for building grasp models as mixed integer programs

Other additions:

compliance parameters for bodies to allow for stability analysis with flexible components
joint pulleys to the HumanHand class (which has been used for underactuated hands)
an option to Qhull to prevent numerical precision issues that resulted in nondeterministic behavior
an option to disable collisions between specific bodies