====== Grasping ======
===== Lab 5 =====
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 [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab7|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 {{:courses:hro:tutorials:basics_practical_grasping.pdf|here}}.

Solution for the worksheet is given [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab7_solution|here]].


===== Lab 6 =====

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]]

Lab Slides:

{{ :courses:hro:tutorials:grasping_tools.pdf |GraspIt! and GPD slides}}

Assignment:

[[courses:hro:tutorials:hw:hw3|HW3]]

GitPod environment for the assignment: {{https://gitpod.io/#github.com/rustlluk/B3M33HRO-gitpod|click here}}