Primitive shapes for graspability maps

Published: 6 February 2018| Version 1 | DOI: 10.17632/96bkhp2sjw.1
Contributors:
Sigal Berman,
Danny Eizicovits

Description

Grapability maps are data structures that store wrist configurations about an object that lead to successful grasp. They are suitable for both direct use in reach-to-grasp motion planning algorithms and as grasp databases for gripper design analysis and for learning grasp models. The data includes point cloud models of shape primitives produced synthetically for representing shapes. These primitives were used for creating graspability maps and adapting the maps for complex shapes during run-time. Models include a text file of x,y,z coordinates of the point cloud data and a figure for the following primitives: Pole: Height – 20, Radius – 2 Sphere: Radius 5 Box: Height – 8, Width – 4, Length – 18 Torus: Radius1 – 0.5, Radius2 – 4 Cone: Radius1 –3, Radius2 – 4.5, Height – 10 Gripper: A two jaw gripper with max opening – 4.7

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