Grasp editor

A GUI interface is provided to edit grasps. The grasp editor can be launched by running the following command:

roslaunch grasplan grasp_editor.launch object_name:=<object_name>

where object_name is one of: materialbox, relay, hot_glue_gun, multimeter, screwdriver, klt, power_drill_with_grip

for an up to date list of objects see mobipick_pick_n_place/config/grasplan/object_grasps.

The following video of the grasp editor demonstrates the process.

Functionality includes:

• selecting grasps by: number or all grasps, (when selected, grasps change their color on rviz from brown to green)

• transform grasps

• create linear or circular patterns, mirror grasps

• undo/redo, save, load grasps

Grasp editor GUI.