Loading Recorded Grasps

The recommended way to use Grasplan is via mobipick labs.

You can use the mobipick api or the rqt tables demo to access all grasplan functionality:

roslaunch rqt_tables_demo rqt_tables_demo.launch namespace:=mobipick world_config:=moelk_tables

replace moelk_tables with the name of your world configuration (e.g. cic_tables).

For more documentation on pick and place pipeline, please refer to the Functionality section.