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maximeadjigble / grasplocomo

Robotic grasp generation C/C++ library for parallel-jaw grippers
BSD 3-Clause "New" or "Revised" License
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Question about Grippermodel variables #5

Closed PalMadDog closed 2 years ago

PalMadDog commented 2 years ago

Could you explain what frictionAngle and NrotSampled represents in dxGripperModel.h? image

maximeadjigble commented 2 years ago

frictionAngle is the angle of the friction cone used for force closure analysis. Smaller values will lead to less grasps but more stable ones and larger values will give more variety

NrotSampled is the number of grasps generated for each feature. (A feature is composed of two points with surface normals). Because, it is a parallel gripper that is used, for every feature, it is possible to rotate the gripper around the line formed by the two contact points to generate grasps, so that's what NrotSampled is used for.