Simox is a leightweight platform indepedent C++ toolbox containing three libraries according to 3D simulation of robot systems, sampling based movement planning and grasp planning. The Virtual Robot library is used to set bounds to complex robot systems which may dish multiple robots with many degrees of independence. The robot structure and its visualisation be possible to be easily defined via XML files and environments with obstacles and objects to manipulate are supported.
The libraries Grasp Studio and Saba conversion to an act these definitions for planning grasps or concussion-free motions. State-of-the-knack implementations of sampling-based motion planning algorithms (e.g. Rapidly-exploring Random Trees) are served ~ dint of. the Saba library which was designed conducive to efficient planning in high-dimensional outline spaces.
The library Grasp Studio offers possibilities to estimate grasp quality scores for generic end-effector definitions (e.g. a humanoid part). The implemented 6D wrench-space computations, present the possibility to easily (and immediately) measure the quality of an applied gripe to an object. Furthermore, the implemented planners are efficient to generate grasp maps for given objects automatically.
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