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Grasp hand selection #5

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fbottarel opened this issue Jul 6, 2018 · 3 comments
Open

Grasp hand selection #5

fbottarel opened this issue Jul 6, 2018 · 3 comments

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@fbottarel
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It would be useful to implement a command to let the robot choose by itself the hand to grasp with.

For instance, the grasp objectName hand could accept hand not being present, and determine the best hand by trying both approaches and selecting the best (based on cost function).
@pattacini
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pattacini commented Jul 6, 2018 •
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This comes particularly in handy for integrating grasp-pose-gen into iol.
Ref. robotology/iol@f7ce6bd.

@pattacini
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Reminder for me: once done, update iol accordingly.

@fbottarel fbottarel reopened this Dec 18, 2018
@fbottarel
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This will be addressed by having an auto-hand-selection option that computes grasps for the object with both hands and selects the best hand according to the grasp cost function.

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@pattacini @fbottarel