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ipa320 / cob_manipulation

www.care-o-bot.org
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[cob_grasp_generation] Known Issues with cob_grasp_generation package #80

Open fmessmer opened 8 years ago

fmessmer commented 8 years ago

Documenting this in an issue - for knowledge transfer:

General OpenRAVE-Doku: http://openrave.org/ GraspGeneration-Doku: http://openrave.org/docs/latest_stable/openravepy/databases.grasping/

@fmessmer FYI

fmessmer commented 8 years ago

First of all, cob_grasp_generation requires openrave to be installed (http://openrave.org/docs/latest_stable/install/). However, it is not available as debian package in 14.04 and there is also no rosdep key for it!). Thus, it has to be installed manually!

Second, cob_grasp_generation is not too stable when it comes to using the OpenRAVE visualization... I experience frequent sudden laptop shutdowns....

Also, there are several lines of code that are hard-coded for SDH.... and thus not yet extendable for e.g. SDHX and others.... an overhaul would be required introducing a parameter/configuration structure (i.e. joint_names!)... maybe even dynamic reconfiguration for the grasp generation parameters

fmessmer commented 7 years ago

QueryGrasp and ShowGrasp action have been made OpenRAVE-independent in #126 also manual grasp table generation has been documented in a README in #127

Thus, the grasp tables can now be used within cob_pick_place without the need for OpenRAVe... Still, for the future an automated grasp generation tool (OpenRAVE, GraspIt!, other automated sampling strategy) is desirable/preferable over the manual process...