From 1f54f077b032d6f01904e2d8fcfc938a4d0bdbcf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 4 Nov 2022 10:31:35 +0100
Subject: [PATCH] Update README
---
readme.md | 122 ++++++++++++++++++++++++++++--------------------------
1 file changed, 63 insertions(+), 59 deletions(-)
diff --git a/readme.md b/readme.md
index d55a0a04c..26112d623 100644
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+++ b/readme.md
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-Simox
------
+# Simox
-The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of
-algorithms for 3D simulation of robot systems, sampling based motion planning and grasp
-planning. Simox consists of three libraries (Virtual Robot, Saba and Grasp Studio) and numerous
+The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of
+algorithms for 3D simulation of robot systems, sampling based motion planning and grasp planning.
+Simox consists of three libraries (Virtual Robot, Saba and Grasp Studio) and numerous
examples showing how these libraries can be used to build complex tools in the
-context of mobile manipulation. The library Virtual Robot can be used to define complex
-robot systems, which may cover multiple robots with many degrees of freedom. The robot
-structure and its visualization can be easily defined via XML files and environments with
-obstacles and objects to manipulate are supported. Further, basic robot simulation compo-
-nents, as Jacobian computations and generic Inverse Kinematics (IK) solvers, are offered by
-the library. Beyond that, extended features like tools for analyzing the reachable workspace
-for robotic manipulators or contact determination for grasping are included.
-With Saba, a library for planning collision-free motions is offered, which directly incorporates
-with the data provided by Virtual Robot. The algorithms cover state-of-the-art implementa-
-tions of sampling-based motion planning approaches (e.g. Rapidly-exploring Random Trees)
-and interfaces that allow to conveniently implement own planners. Since Saba was designed
-for planning in high-dimensional configuration spaces, complex planning problems for robots
-with a high number of degrees of freedom (DoF) can be solved efficiently.
-Grasp Studio offers possibilities to compute the grasp quality for generic end-effector
-definitions, e.g. a humanoid hand. The implemented 6D wrench-space computations can be used
-to easily (and quickly) determine the quality of an applied grasp to an object. Furthermore,
-the implemented planners are able to generate grasp maps for given objects automatically.
-Since complex frameworks have to incorporate with several libraries in order to provide full
-functionality, several issues may arise when setting up the environment, such as dependency
-problems, incompatible library versions or even non-existing ports of needed libraries for the
-used operating systems. Hence, only a limited set of libraries are used by the Simox core in
-order to make it compile. Extended functionality (e.g. visualization) can be turned off in
-order to allow Simox compiling on most platforms. Further dependencies are encapsulated
-with interfaces, making it easy to exchange e.g. the collision engine or the visualization
-functionality. As a reference implementation Simox offers Coin3D/SoQt-based visualization
-support.
+context of mobile manipulation.
-Documentation
--------
-Wiki: https://gitlab.com/Simox/simox/wikis/home
+The library **Virtual Robot** can be used to define complex robot systems,
+which may cover multiple robots with many degrees of freedom.
+The robot structure and its visualization can be easily defined via XML files and environments with
+obstacles and objects to manipulate are supported.
+Further, basic robot simulation components, as Jacobian computations and generic
+Inverse Kinematics (IK) solvers, are offered by the library.
+Beyond that, extended features like tools for analyzing the reachable workspace for robotic manipulators
+or contact determination for grasping are included.
-API Reference: http://simox.sourceforge.net/documentation/
+With **Saba**, a library for planning collision-free motions is offered, which directly incorporates
+with the data provided by Virtual Robot.
+The algorithms cover state-of-the-art implementations of sampling-based motion planning approaches
+(e.g. Rapidly-exploring Random Trees) and interfaces that allow to conveniently implement own planners.
+Since Saba was designed for planning in high-dimensional configuration spaces, complex planning problems
+for robots with a high number of degrees of freedom (DoF) can be solved efficiently.
+
+**Grasp Studio** offers possibilities to compute the grasp quality for generic end-effector
+definitions, e.g. a humanoid hand.
+The implemented 6D wrench-space computations can be used to easily (and quickly) determine
+the quality of an applied grasp to an object.
+Furthermore, the implemented planners are able to generate grasp maps for given objects automatically.
+
+Since complex frameworks have to incorporate with several libraries in order to provide full functionality,
+several issues may arise when setting up the environment, such as dependency problems,
+incompatible library versions or even non-existing ports of needed libraries for the used operating systems.
+Hence, only a limited set of libraries are used by the Simox core in order to make it compile.
+Extended functionality (e.g. visualization) can be turned off in order to allow Simox compiling on most platforms.
+Further dependencies are encapsulated with interfaces, making it easy to exchange
+e.g. the collision engine or the visualization functionality.
+As a reference implementation, Simox offers Coin3D/SoQt-based visualization support.
+
+## Documentation
+
+Wiki: https://git.h2t.iar.kit.edu/sw/simox/simox/-/wikis/home
+
+API Reference: http://simox.sourceforge.net/documentation
+
+## License
-License
--------
GNU Lesser General Public License, version 2.1 or any later version.
(see license.txt)
-Copyright
----------
- 2010-2016 Nikolaus Vahrenkamp
+## Copyright
+2010-2016 Nikolaus Vahrenkamp
-Reference
----------
-N. Vahrenkamp, M. Kröhnert, S. Ulbrich, T. Asfour, G. Metta, R. Dillmann and G. Sandini, Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning, International Conference on Intelligent Autonomous Systems (IAS), pp. 585 - 594, 2012
-
->@INPROCEEDINGS {Vahrenkamp12,
-> author = {Nikolaus Vahrenkamp and Manfred Kr\"ohnert and Stefan Ulbrich and Tamim Asfour and Giorgio Metta and R\"udiger Dillmann and Giulio Sandini},
-> title = {Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning},
-> booktitle = {International Conference on Intelligent Autonomous Systems (IAS)},
-> pages = {585--594},
-> year = {2012}
->}
+## Reference
+N. Vahrenkamp, M. Kröhnert, S. Ulbrich, T. Asfour, G. Metta, R. Dillmann and G. Sandini,
+Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning,
+International Conference on Intelligent Autonomous Systems (IAS),
+pp. 585 - 594, 2012
+```
+@INPROCEEDINGS {Vahrenkamp12,
+ author = {Nikolaus Vahrenkamp and Manfred Kr\"ohnert and Stefan Ulbrich and Tamim Asfour and Giorgio Metta and R\"udiger Dillmann and Giulio Sandini},
+ title = {Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning},
+ booktitle = {International Conference on Intelligent Autonomous Systems (IAS)},
+ pages = {585--594},
+ year = {2012}
+}
+```
-Contact
--------
-Nikolaus Vahrenkamp
+## Contact
+Nikolaus Vahrenkamp
vahrenkamp at kit dot edu
-Repostory:
-https://gitlab.com/Simox/simox
+Repostory:
+https://git.h2t.iar.kit.edu/sw/simox/simox
-Mailing list:
+Mailing list:
https://groups.google.com/d/forum/simox
-
-
--
GitLab