HFTS Grasp Planner

Parameters

The default parameters for the HFTS Grasp Planner can be modified in:

htfs_grasp_planner/config/testParams.yaml

How to launch the HFTS Grasp Planner node

roslaunch hfts_grasp_planner start_hfts_planner.launch

Once this node is running, you can issue planning by calling the service /hfts_planner/plan_fingertip_grasp. An example on how to do this, via direct ROS service call:

rosservice call /hfts_planner/plan_fingertip_grasp "object_identifier: 'bunny'
point_cloud:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
  points:
  - x: 0.0
    y: 0.0
    z: 0.0
  channels:
  - name: ''
    values:
    - 0"

As a response you should receive a message containing a hand pose relative to the object frame and a hand configuration. See the service definition in hfts_grasp_planner/srv/PlanGrasp.srv for more details.