Welcome to the OpenGRASP Documentation!
OpenGRASP is a simulation toolkit for grasping and dexterous manipulation. It is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely used technologies and standards.
The tool-kit has been developed within the GRASP project "Emergence of cognitive grasping through introspection, emulation and surprise”, funded by the the European Community’s Seventh Framework Programme.
Link to the information about the simulator in the GRASP wiki (outdated)
We provide a tool that allows easily to create new or convert existing models of robot hands. Collada in version 1.5 has been chosen as the common content exchange format. The Robot Editor should be based on available and reliable open source software. For this reason the Blender project has been chosen. It is easily extendable and supports a variety of file formats including Collada 1.4 the predecessor of the exchange format, that could be used as a starting point for further development.
This is the guide to download and install the Robot Editor.
Physics Abstraction Layers
- PAL (Modified version)
The core of OpenGRASP is OpenRAVE (Open Robotics and Animation Virtual Environment), a simulator created by Rosen Diankov at the Planning And Autonomy Lab in the Carnegie Mellon University Robotics Institute. The OpenRAVE plugin architecture provides a flexible interface that allows users to easily extend its functionality. Thanks to this design, we are enhancing the OpenRAVE capabilities creating various plugins that will make it fit our needs.
Download the plugins from sourceforge
|||B. León, S. Ulbrich, R. Diankov, G. Puche, M. Przybylski, A. Morales, T. Asfour, S. Moisio, J. Bohg, J. Kuffner, and R. Dillmann, OpenGRASP: A Toolkit for Robot Grasping Simulation, Berlin, Heidelberg: Springer Berlin Heidelberg, 2010.|
|||J. Laaksonen, J. Felip, A. Morales, and V. Kyrki, Embodiment independent manipulation through action abstraction, IEEE, 2010.|
Robot paltforms used in GRASP
- Arm: System KR5 sixx R850
- Hand: SchunkSDH
- Arm: RV3SB
- Hand: Schunk Gripper PG70
- Hand: Barret Hand