Hi Everyone,

we are pleased to announce a new package for grasp calculation on unknown and known objects.

This package receives a point cloud representing objects and identifies where to best place the gripper. The algorithm does not require segmentation or a-priori knowledge about the objects. It has already been employed on various platforms, including a PR2 [4], a Kuka LWR [5], a Schunk arm [6] and the service robot Hobbit [7].

More details, a scientific foundation and evaluation results can be found in an IJRR journal publication from August 2015 [1], a more technical description and a simple getting started guide can be found at [2]. Code is available on GitHub [3].

Links:

1) http://ijr.sagepub.com/content/34/9/1167.full.pdf+html → IJRR publication 2015 or

    http://users.acin.tuwien.ac.at/dfischinger/files/IJRR_FinalRevision.pdf (final revision)
2) http://wiki.ros.org/haf_grasping → Technical description, Getting started
3) https://github.com/davidfischinger/haf_grasping → Code on GitHub

Videos:

4) https://www.youtube.com/watch?v=aF8_VkLdc_g → PR2, unknown objects
5) https://www.youtube.com/watch?v=sGmwOHVDODA → Kuka arm, known object
6) https://www.youtube.com/watch?v=OpIHp0N3440 → Schunk arm, unknown objects in box
7) https://youtu.be/zLr-9aEOPjs -> Service robot Hobbit

Currently Indigo is supported.

Best regards,

David Fischinger

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