This is a framework for:
- Calculating grasp points set for a given object mesh.
- Using submodularity of the set in each contact point, calculate the optimal subset which will possibly include redundant grasp points
Current Dependencies: Wavefront OBJ toolbox (WOBJ_toolbox_Vesion-2b) These are matlab files to read and write .mtl and .obj files The files are included in the src with a relavant file for license in the licenses folder.
matVTK1.0 This in turn requires a working VTK installation.
CVX
This version of the code runs on an academic license.
However CVX is not free for commercial purposes.
http://cvxr.com/cvx/
Notes: One has to fire the matvtk guiserver manually once before matlab can run matvtk. Otherwise matlab throws java.lang.xx.xx errors for not able to fire the client up.