Grasp Pose Candidates Generator for Furniture Assembly Tasks (F-GPG)

1. Overview

• Author: Suhan Park (psh117@snu.ac.kr)
• License: BSD
• Description: This packages generates grasp pose candidates for furniture assembly tasks with more strict antipodal points and more tight grasp depth.
• Publication: https://ieeexplore.ieee.org/abstract/document/9158930
• S. Park, J. Baek, S. Kim and J. Park, "Rigid Grasp Candidate Generation for Assembly Tasks", 2020, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020.

2. Requirements

• ROS (ros-*-desktop-full version is required, tested environment: melodic)

3. Compilation

cd ~/catkin_ws/src # your ROS workspace
git clone https://github.com/psh117/fgpg
cd ~/catkin_ws
catkin_make

4. Execution

rosrun fgpg fgpg config/options.yaml model.stl

5. Configurations

Some explainations are written in config/options.yaml

6. Useful links

• atenpas/gpg github link