mlkakram / grid_sample_plugin

Graspit Plugin: uniform sampling of grasp locations

grid_sample_plugin

Note that this package depends on graspit ros packages see: graspit_interface

Example Usage:

In one terminal:

roslaunch grid_sample_plugin grid_sample_plugin.launch

Then, in another terminal:

import graspit_commander
gc = graspit_commander.GraspitCommander()
gc.loadWorld('plannerMug')

import grid_sample_client
pre_grasps = grid_sample_client.GridSampleClient.computePreGrasps(10, 0)	# resolution, sampling_type
grasps = grid_sample_client.GridSampleClient.evaluatePreGrasps(pre_grasps.grasps)