joao-borrego / grasp Goto Github PK

Grasping in GAZEBO robotics simulator.

License: MIT License

CMake 4.75% C++ 75.75% Shell 0.29% Python 19.22%

gazebo gazebo-plugin grasping domain-randomization

grasp's Introduction

GRASP is a set of tools for dynamic grasp simulation within Gazebo using DART physics engine. It supports both parallel-plate grippers and multi-fingered hands, namely with underactuated joints.

Setup environment and dependencies

For a tutorial on how to achieve the setup check dependencies. For an overview of each dependency, with respective version, check setup.

Install from source

Clone the repository to your workspace directory and build from source.

mkdir ~/workspace &&
cd ~/workspace && git clone https://github.com/jsbruglie/grasp.git
cd ~/workspace/grasp/ && mkdir build && cd build && cmake ../ && make -j8

Initialisation

Make sure you properly initialise the required environment variables. We provide a simple script for this:

cd ~/workspace/grasp && source setup.sh

Examples

Check the provided examples.

Documentation

Take a look at the automatic documentation for file and class description.

grasp's People

Contributors

Stargazers

Watchers

Forkers

stevewen staceycy el-cangrejo ismarou cf-dtx stevezou126 ustczzl zhangjijun0 bfyskuy onwaiers aprath1 cyqxxn mohammad200h iocroblab github-songsong thzhfei

grasp's Issues

Rest pose incorrectly calculated

Hand does not wait for object to fall; collides with it, thus resulting in incorrect rest pose for the following trials.

Error with dart engine - seems like gazebo ros packages does not support dart engine?

Hi @jsbruglie ,

I am trying to run the example in this repo and I get an error:
ROS get_physics_properties service call does not yet support physics engine [dart].

I installed the gazebo_ros_pkgs as per the setup instructions and cloning the kinetic-devel branch
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel

Also in the gazebo_ros_pkgs repo the file -> gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_api_plugin.cpp (line 1442 & 1494) , indicates that the get physics and set physics properties support only ode engine, not dart and bullet as of now... so does it mean dart is not supported ? If so how to run the examples in the repo, am I missing something?

sudo apt install libsdformat6-dev
# output
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package libsdformat6-dev

Could any one please let me know if this library dependency is correct or am I missing something?

Update:
Only 'libsdformat4-dev' seem to be available in the apt-cache, will this be compatible?

Update rate of 0

Thanks for open sourcing this! I have a question regarding your world files. You set real_time_update_rate to 0 in this line of some of the world files.

<real_time_update_rate>0.000000</real_time_update_rate>

How does an update rate of 0 make sense? Could you explain why you do this?

Run trials seems to halt progress right after spawning some objects.

Behaviour seems consistent for KIT's BakingVanilla object, for instance.