其他
GraspPlugin for Choreonoid provids several functions for robotic systems having multi-fingered hand attached at the tip of a robotic arm. These functions are developed as plug-in functions of Choreonoid. The following plug-in functions are included:
Grasp planning plug-in: Grasp planning function and many functions commonly used by other plug-ins.
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Trajectory planning plug-in: Trajectory planning function connecting the start and the goal configurations with avoiding the collision with the obstacles.
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Gripper manipulation plug-in: Pick-and-place planning function for robot manipulators having a parallel gripper at the tip.
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Vision trigger plug-in: OpenRTM interface in connection with OpenVGR.
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Robot interface plug-in: OpenRTM interface sending commands to HiroNX dual arm robot.
Here, we ported the Motion Planning Kit (MPK) developed in Stanford university as a t
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