====== Grasping ======
===== Week 8 =====

This week's lab is focused on practical problems of grasping. We will look at different pipelines for grasping, mainly [[http://graspit-simulator.github.io|GraspIt!]] and [[https://github.com/atenpas/gpd|GPD]]. The presentation can be found [[https://docs.google.com/presentation/d/1q4vnn1RfyaV60SjZBOndI9zVJ82HEHT7eI7zDTjLqeQ/edit?usp=sharing|here]]. 

The two programs are provided in our Docker images (with tags ''full'' and ''graspit''), or can be installed manually. See [[courses:hro:tutorials:0dockertutorial|Docker tutorial]] for more details.

===== Week 9 =====

This lab is focused on point cloud and mesh manipulation needed for grasping pipelines.

Useful links:

[[http://www.open3d.org/docs/latest/tutorial/Advanced/surface_reconstruction.html|Surface Reconstruction Tutorial]]  

[[http://www.open3d.org/docs/release/python_api/open3d.geometry.TriangleMesh.html|Open3D Triangle mesh]]

[[http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html|Open3D Point Cloud]]

[[http://www.open3d.org/docs/latest/tutorial/Basic/pointcloud.html|Open3D Point Cloud Tutorial]]

[[https://github.com/graspit-simulator/graspit_commander/blob/master/src/graspit_commander/graspit_commander.py|GraspIt! Commander API]]

[[https://github.com/atenpas/gpd|GPD Github]]



===== HW 5 =====
[[courses:hro:tutorials:hw:hw5|The purpose of this homework is to get familiar with multiple grasping pipelines and point cloud and mesh manipulation.]]
Comments to the homework can be found here: {{ :courses:hro:tutorials:hro_hw5_comments.pdf |}}.