choreonoid graspplugin for

GraspPlugin for Choreonoid provids several functions for robotic systems having multi-fingered hand attached at the tip of a robotic arm. These functions are developed as plug-in functions of Choreonoid. The following plug-in functions are included: Grasp planning plug-in: Grasp planning function and many functions commonly used by other plug-ins.
Trajectory planning plug-in: Trajectory planning function connecting the start and the goal configurations with avoiding the collision with the obstacles.
Gripper manipulation plug-in: Pick-and-place planning function for robot manipulators having a parallel gripper at the tip.
Vision trigger plug-in: OpenRTM interface in connection with OpenVGR.
Robot interface plug-in: OpenRTM interface sending commands to HiroNX dual arm robot. Here, we ported the Motion Planning Kit (MPK) developed in Stanford university as a t

PRM
sblRandVal.cpp
mpkPathSmoother.cpp
mpkConfig.h
tspTour.cpp
PlanInterface.h
sblRn.cpp
mpkRobots.cpp
mpkSimpleSegmentChecker.h
sblBin.h
TrajectoryBar.cpp
tspVectornd.cpp
mpkConfigChecker.h
tsp.cpp
TrajectoryPlanner.cpp
exportdef.h
sblPlanner.h
sblMilestone.h
sblTree.cpp
mpk_rand.h
tspCity.cpp
sblRandVal.h
mpk_defs.h
CMakeLists.txt
mpkPathSmoother.h
tspTour.h
sblRn.h
mpkRobots.h
TrajectoryBar.h
tspVectornd.h
PlanInterface.cpp
tsp.h
TrajectoryPlanner.h
sblEdge.h
mpkSimpleSegmentChecker.cpp
sblTree.h
TrajectoryPlugin.cpp
tspCity.h
mpkConfigChecker.cpp
sblPlanner.cpp