This package contains the simulation framework for the adaptive grasping approach, implemented using Klampt.
This package requires Ubuntu 18.04 with ROS Melodic and Klampt 0.7 or above. Obviously, the above mentioned package is required with all its needed third packages. Moreover, the package soft_hand_klampt and the fork of the IROS 2016 Grasping and Manipulation Challenge Package should be present in the same src folder. Download the object dataset using the instructions provided in the above mentioned package (will be downoladed in IROS2016 package).
roslaunch soft_hand_klampt_description floating_soft_hand_klampt.launch(Launches floating SoftHand robot in RViz)rosrun adaptive_simulation main_ros.py apc2015 stanley_66_052(Launches Klampt and waits for service adaptive_grasping)roslaunch adaptive_grasping launchRobotCommAdaptiveGrasp.launch(The main server for adaptive grasping, and launches robotCommander... The service is called in the above python node)rostopic pub -r 50 /touching_finger_topic std_msgs/Int8 "data: 4"(From 0 to 5 for fingers from thumb to pinky)