Sanity checks in grasp planner

Hints for starting grasp planner with differnt hants

GraspPlanning/examples/GraspPlanner/GraspPlanner.cpp

@@ -18,6 +18,10 @@ int main(int argc, char* argv[])
 {
     VirtualRobot::init(argc, argv, "Simox Grasp Planner");
     cout << " --- START --- " << endl;
+    cout << endl << "Hint: You can start this demo for different hands:" << endl;
+    cout << "GraspPlanner --robot robots/iCub/iCub.xml --endeffector \"Left Hand\" --preshape \"Grasp Preshape\"" << endl;
+    cout << "GraspPlanner --robot robots/Shadow_Dexterous_Hand/shadowhand.xml --endeffector \"SHADOWHAND\" --preshape \"Grasp Preshape\"" << endl;
+    cout << "GraspPlanner --robot robots/Schunk_SAH/SAH_RightHand.xml --endeffector \"Right Hand\" --preshape \"Grasp Preshape\"" << endl;
 
     // --robot robots/iCub/iCub.xml --endeffector "Left Hand" --preshape "Grasp Preshape"
     std::string robot("robots/ArmarIII/ArmarIII.xml");

GraspPlanning/examples/GraspPlanner/GraspPlanner.ui

@@ -120,7 +120,7 @@
          <x>10</x>
          <y>70</y>
          <width>181</width>
-         <height>201</height>
+         <height>221</height>
         </rect>
        </property>
        <property name="title">
@@ -130,14 +130,17 @@
         <property name="geometry">
          <rect>
           <x>30</x>
-          <y>170</y>
-          <width>111</width>
+          <y>190</y>
+          <width>131</width>
           <height>17</height>
          </rect>
         </property>
         <property name="text">
          <string>Force closure</string>
         </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
        </widget>
        <widget class="QSpinBox" name="spinBoxGraspNumber">
         <property name="geometry">
@@ -173,19 +176,19 @@
          <rect>
           <x>10</x>
           <y>70</y>
-          <width>171</width>
+          <width>181</width>
           <height>16</height>
          </rect>
         </property>
         <property name="text">
-         <string>Timeout, seconds (0=endless)</string>
+         <string>Timeout, seconds</string>
         </property>
        </widget>
        <widget class="QSpinBox" name="spinBoxTimeOut">
         <property name="geometry">
          <rect>
           <x>30</x>
-          <y>90</y>
+          <y>110</y>
           <width>111</width>
           <height>22</height>
          </rect>
@@ -204,7 +207,7 @@
         <property name="geometry">
          <rect>
           <x>10</x>
-          <y>120</y>
+          <y>140</y>
           <width>171</width>
           <height>16</height>
          </rect>
@@ -217,7 +220,7 @@
         <property name="geometry">
          <rect>
           <x>30</x>
-          <y>140</y>
+          <y>160</y>
           <width>111</width>
           <height>22</height>
          </rect>
@@ -231,6 +234,22 @@
         <property name="singleStep">
          <double>0.001000000000000</double>
         </property>
+        <property name="value">
+         <double>0.010000000000000</double>
+        </property>
+       </widget>
+       <widget class="QLabel" name="label">
+        <property name="geometry">
+         <rect>
+          <x>10</x>
+          <y>90</y>
+          <width>131</width>
+          <height>17</height>
+         </rect>
+        </property>
+        <property name="text">
+         <string> (0=endless)</string>
+        </property>
        </widget>
       </widget>
       <widget class="QPushButton" name="pushButtonSave">
@@ -311,7 +330,7 @@
      <x>0</x>
      <y>0</y>
      <width>1079</width>
-     <height>21</height>
+     <height>25</height>
     </rect>
    </property>
   </widget>

VirtualRobot/EndEffector/EndEffector.cpp

@@ -638,6 +638,9 @@ namespace VirtualRobot
         for (size_t i = 0; i < statics.size(); i++)
         {
             RobotNodePtr n = statics[i];
+
+            if (!n->getCollisionModel())
+                continue;
             int id1, id2;
             Eigen::Vector3f p1,p2;
             float dist = this->getCollisionChecker()->calculateDistance(n->getCollisionModel(),obstacle->getCollisionModel(),p1,p2,&id1,&id2);

VirtualRobot/examples/RobotViewer/showRobotWindow.cpp

@@ -98,9 +98,7 @@ void showRobotWindow::setupUI()
 
     // setup
     viewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
-    viewer->setAccumulationBuffer(true);
 
-    viewer->setAntialiasing(true, 4);
 
     viewer->setGLRenderAction(new SoLineHighlightRenderAction);
     viewer->setTransparencyType(SoGLRenderAction::BLEND);
@@ -108,6 +106,9 @@ void showRobotWindow::setupUI()
     viewer->setSceneGraph(sceneSep);
     viewer->viewAll();
 
+    viewer->setAccumulationBuffer(true);
+    viewer->setAntialiasing(true, 4);
+
     connect(UI.pushButtonReset, SIGNAL(clicked()), this, SLOT(resetSceneryAll()));
     connect(UI.pushButtonLoad, SIGNAL(clicked()), this, SLOT(selectRobot()));