Grasping

Lab 7

Tutorial on the basics of grasping. The following topics are covered to provide students with a basic understanding of how grasp quality estimation works: friction cones, wrench spaces, and grasp quality computation.

Please download the source code from here. Some parts of the code are left empty for students to complete, deriving on the concepts taught in class and in the tutorial. Instructions on how to complete the program are provided in the worksheet itself as well.

The slides are available here.

Solution for the worksheet is given here.