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Grasping force-closure node?‏

asked 2011-06-30 20:20:18 -0500

Josep Arnau Claret gravatar image

updated 2011-07-01 09:53:07 -0500

mmwise gravatar image

good morning/evening/night

is anyone aware of the existence of a ros node to check wether a certain set of grasping points is form/force-closure?

thx in advance.


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answered 2011-07-01 08:51:11 -0500

Matei Ciocarlie gravatar image

Please note that everything below is still in very early stages of development / integration...

One option is to use the external simulator GraspIt to perform these computations for you. Graspit is well set up to do this, but the interfacing will be a bit tricky.

Assuming the diamondback ROS distro, you can get GraspIt and its ROS wrapper, either from source code ( or from debs (sudo apt-get install ros-diamondback-graspit-simulator)

Once you have Graspit running, the graspit_interface node inside the stack provides an example for starting the simulator with a ROS node running inside it, so it can service ROS requests.

Most of the work will then consist of writing a ROS service that takes in a set of contacts and performs the desired computations. The ROS node running inside GraspIt will take those in, ask GraspIt to perform the force/form-closure computations and return the result. Getting GraspIt to do exactly what you want will be non-trivial, but should be doable.

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answered 2011-07-01 00:23:09 -0500

Bemfica gravatar image

I'm interested on it too. Maybe a starting point is the object manipulation stack.

There is also the cob_sdh stack for the gripper sdh (Schunk Dexterous), but I'm not sure if it gives you some force matrix feedback.

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Asked: 2011-06-30 20:20:18 -0500

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Last updated: Jul 01 '11