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Simox comes with several ready to use examples that can be used as templates for developing custom applications. Please have a look at the examples folder in the directories `VirtualRobot`, `MotionPlanning` and `GraspPlanning`. Most examples rely on the Coin3D/Qt libraries for visualization, but you will find at least the `RobotViewerOSG` example showing how to incorporate the OpenSceneGraph library.
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[TOC]
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# RobotViewer
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This executable can be used to visualize and test your robot definition. A robot's XML file can be loaded and `RobtoNodeSets`, `RobotNodes` and `EndEffectors` can be accessed.
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# RobotViewerOSG
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This RobotViewer relies on OpenSceneGraph (OSG) dependencies instead of Coin3D.
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# Jacobi
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This example shows how Jacobians and their Pseudoinverse can be used for Differential-IK queries. Several advanced features are shown, such as bimanual IK or selective use of Cartesian targets (e.g. only the Z component is set, while ignoring the remaining coordinates).
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# SceneViewer
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This example shows how scenes with multiple robots and objects can be accessed.
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# Reachability
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Reachability data can be created and visualized with this example.
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# GraspEditor
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This editor can be used to create, load or manually modify grasping data that is stored with `ManipulationObject` files.
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# RrtGui (Saba)
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This example shows how the motion planning library `Saba` can be used to plan collision-free motions. Several RRT variants can be selected together with its parameter setup. Further, path post processing functionality is shown to smooth the resulting motions.
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# IKRRT (Saba)
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This demo shows how the IKRRT can be used to search for IK-solutions while planning collision-free motions.
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# GraspRrt (Saba)
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The GraspRrt algorithm can be used to simultaneously plan a collision-free motion together with a suitable grasp. For this planner no pre-defined grasps have to be present since the algorithm autonomously generates grasping hypotheses.
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# GraspPlanning (GraspStudio)
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This example shows how sets of grasps can be planned by the generic grasp planning component. The grasps are evaluated with the grasp wrench space approach.
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# GraspQuality (GraspStudio)
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Quality measurements can be used to evaluate the quality of a given grasp / IK-solution. |