Recent changes to Examples

Examples modified by Valerij Wittenbeck

Valerij Wittenbeck — Fri, 04 Jul 2014 08:03:46 -0000

--- v4
+++ v5
@@ -1,10 +1,10 @@
-Simox comes with several ready to use examples that can be used as templates for developing custom applications. Please have a look at the examples folder in the directories _VirtualRobot_, _MotionPlanning_ and _GraspPlanning_. Most examples rely on the Coin3D/Qt libraries for visualization, but you will find at least the _RobotViewerOSG_ example showing how to incorporate the OpenSceneGraph library. 
+Simox comes with several ready to use examples that can be used as templates for developing custom applications. Please have a look at the examples folder in the directories `VirtualRobot`, `MotionPlanning` and `GraspPlanning`. Most examples rely on the Coin3D/Qt libraries for visualization, but you will find at least the `RobotViewerOSG` example showing how to incorporate the OpenSceneGraph library.

 [TOC]

 # RobotViewer

-This executable can be used to visualize and test your robot definition. A robot's XML file can be loaded and _RobtoNodeSets_, _RobotNodes_ and _EndEffectors_ can be accessed. 
+This executable can be used to visualize and test your robot definition. A robot's XML file can be loaded and `RobtoNodeSets`, `RobotNodes` and `EndEffectors` can be accessed. 

 # RobotViewerOSG

@@ -24,11 +24,11 @@

 # GraspEditor

-This editor can be used to create, load or manually modify grasping data that is stored with _ManipulationObject_ files. 
+This editor can be used to create, load or manually modify grasping data that is stored with `ManipulationObject` files. 

 # RrtGui (Saba)

-This example shows how the motion planning library _Saba_ can be used to plan collision-free motions. Several RRT variants can be selected together with its parameter setup. Further, path post processing functionality is shown to smooth the resulting motions. 
+This example shows how the motion planning library `Saba` can be used to plan collision-free motions. Several RRT variants can be selected together with its parameter setup. Further, path post processing functionality is shown to smooth the resulting motions. 

 # IKRRT (Saba)

Examples modified by Nikolaus Vahrenkamp

Nikolaus Vahrenkamp — Mon, 23 Jun 2014 06:39:38 -0000

--- v3
+++ v4
@@ -34,6 +34,10 @@

 This demo shows how the IKRRT can be used to search for IK-solutions while planning collision-free motions. 

+# GraspRrt (Saba)
+
+The GraspRrt algorithm can be used to simultaneously plan a collision-free motion together with a suitable grasp. For this planner no pre-defined grasps have to be present since the algorithm autonomously generates grasping hypotheses. 
+
 # GraspPlanning (GraspStudio)

 This example shows how sets of grasps can be planned by the generic grasp planning component. The grasps are evaluated with the grasp wrench space approach.

Examples modified by Nikolaus Vahrenkamp

Nikolaus Vahrenkamp — Mon, 23 Jun 2014 06:39:38 -0000

--- v2
+++ v3
@@ -33,3 +33,11 @@
 # IKRRT (Saba)

 This demo shows how the IKRRT can be used to search for IK-solutions while planning collision-free motions. 
+
+# GraspPlanning (GraspStudio)
+
+This example shows how sets of grasps can be planned by the generic grasp planning component. The grasps are evaluated with the grasp wrench space approach. 
+
+# GraspQuality (GraspStudio)
+
+Quality measurements can be used to evaluate the quality of a given grasp / IK-solution.

Examples modified by Nikolaus Vahrenkamp

Nikolaus Vahrenkamp — Mon, 23 Jun 2014 06:39:38 -0000

--- v1
+++ v2
@@ -1,4 +1,6 @@
 Simox comes with several ready to use examples that can be used as templates for developing custom applications. Please have a look at the examples folder in the directories _VirtualRobot_, _MotionPlanning_ and _GraspPlanning_. Most examples rely on the Coin3D/Qt libraries for visualization, but you will find at least the _RobotViewerOSG_ example showing how to incorporate the OpenSceneGraph library. 
+
+[TOC]

 # RobotViewer

@@ -11,3 +13,23 @@
 # Jacobi

 This example shows how Jacobians and their Pseudoinverse can be used for Differential-IK queries. Several advanced features are shown, such as bimanual IK or selective use of Cartesian targets (e.g. only the Z component is set, while ignoring the remaining coordinates). 
+
+# SceneViewer
+
+This example shows how scenes with multiple robots and objects can be accessed. 
+
+# Reachability
+
+Reachability data can be created and visualized with this example. 
+
+# GraspEditor
+
+This editor can be used to create, load or manually modify grasping data that is stored with _ManipulationObject_ files. 
+
+# RrtGui (Saba)
+
+This example shows how the motion planning library _Saba_ can be used to plan collision-free motions. Several RRT variants can be selected together with its parameter setup. Further, path post processing functionality is shown to smooth the resulting motions. 
+
+# IKRRT (Saba)
+
+This demo shows how the IKRRT can be used to search for IK-solutions while planning collision-free motions.

Examples modified by Nikolaus Vahrenkamp

Nikolaus Vahrenkamp — Mon, 23 Jun 2014 06:39:38 -0000

Simox comes with several ready to use examples that can be used as templates for developing custom applications. Please have a look at the examples folder in the directories VirtualRobot, MotionPlanning and GraspPlanning. Most examples rely on the Coin3D/Qt libraries for visualization, but you will find at least the RobotViewerOSG example showing how to incorporate the OpenSceneGraph library.

RobotViewer

This executable can be used to visualize and test your robot definition. A robot's XML file can be loaded and RobtoNodeSets, RobotNodes and EndEffectors can be accessed.

RobotViewerOSG

This RobotViewer relies on OpenSceneGraph (OSG) dependencies instead of Coin3D.

Jacobi

This example shows how Jacobians and their Pseudoinverse can be used for Differential-IK queries. Several advanced features are shown, such as bimanual IK or selective use of Cartesian targets (e.g. only the Z component is set, while ignoring the remaining coordinates).