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graspit-simulator / graspit

The GraspIt! simulator
http://graspit-simulator.github.io/
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Eigengrasps for a parallel gripper #185

Open ShrutheeshIR opened 2 years ago

ShrutheeshIR commented 2 years ago

Hi, this work is amazing!

I plan on using a parallel gripper (fetch) for picking up objects. I came across this package, which seems to work well. I have a couple of questions regarding the same

  1. Is graspit an overkill for parallel gripper, to generate antipodal grasps?
  2. Would the eigengrasps for a parallel gripper just be the same as just regular antipodal grasps?
  3. I tried loading the fetch_gripper with the longbox as object as an example. Although multiple grasps seem to be tried, it looks like it returns only ~20 grasps (using moveit_commander), just wondering which ones are actually selected.

Thanks