Type: | module |
---|---|
Plugin: | grasper |
Interface Author: | |
Rosen Diankov |
Used to simulate a hand grasping an object by closing its fingers until collision with all links.
Given a point cloud, returns information about its convex hull like normal planes, vertex indices, and triangle indices. Computed planes point outside the mesh, face indices are not ordered, triangles point outside the mesh (counter-clockwise)
Parllelizes the computation of the grasp planning and force closure. Number of threads can be specified with ‘numthreads’.