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robotology / cardinal-points-grasp

Simple superquadric-based grasping pose generator for iCub
GNU General Public License v2.0
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Grasp hand selection #5

Open fbottarel opened 6 years ago

fbottarel commented 6 years ago

It would be useful to implement a command to let the robot choose by itself the hand to grasp with.

For instance, the grasp objectName hand could accept hand not being present, and determine the best hand by trying both approaches and selecting the best (based on cost function).

pattacini commented 6 years ago

This comes particularly in handy for integrating grasp-pose-gen into iol. Ref. https://github.com/robotology/iol/commit/f7ce6bd91ceb82bcec4585b687bd6dfe801478d6.

pattacini commented 6 years ago

Reminder for me: once done, update iol accordingly.

fbottarel commented 5 years ago

This will be addressed by having an auto-hand-selection option that computes grasps for the object with both hands and selects the best hand according to the grasp cost function.