Grasp Quality Measure for 2D Objects

This repository is part of the Mathematics and Simulation for Robotics course.
It provides tools to evaluate grasp quality measures for 2D objects using concepts like grasp wrench space, force closure, and external wrench resistance.

Table of Contents

1. Tested Environment
2. Installation
3. Examples
   • Example 1: Compare Grasp Wrench Space and Grasp Wrench Hull
   • Example 2: Test Force Closure
   • Example 3: Test External Wrench Resistance
   • Example 4: Random Object and Grasp Analysis

Tested Environment

This code has been tested on the following environment:

• OS: Ubuntu 20.04
• Python Version: 3.8

Other environments may work but are not guaranteed. Please ensure compatibility before use.

Installation

To set up the environment, ensure you have Python installed and run the following command to install the required dependencies:

pip install -r requirements.txt

Examples

Example 1 - Compare Grasp Wrench Space and Grasp Wrench Hull

This script compares the grasp wrench space (GWS) with the grasp wrench hull (GWH) for a given 2D object.

Run the following command:

python ex1_gws_vs_gwh.py

Example 2 - Test Force Closure

This script evaluates whether a grasp satisfies the force closure property, which is essential for a stable grasp.

Run the following command:

python ex2_force_closure.py

Example 3 - Test External Wrench Resistance

This script tests the ability of a grasp to resist external wrenches applied to the object.

Run the following command:

python ex3_ext_wrench_resistance.py

Example 4 - Grasp Wrench Space with Random Object and Grasp

This script generates a random 2D polygon and computes the grasp wrench space for randomly placed grasp points.

Run the following command:

python ex4_random_polygon.py