This C++ library with python bindings implements spherical harmonics and an associated least-squares regression to
recover a smooth surface description from point-cloud data.
These methods are described in our paper
"Grasp Moduli Spaces and Spherical Harmonics"
, F. T. Pokorny, Y. Bekiroglu, D. Kragic, IEEE ICRA, 2014
This data set contains 100000 random grasp point-contact configurations formed by uniformly sampled contact points
and unit surface normals as well as associated centres of mass. These contact configurations are useful for large scale
statistical studies of grasp quality measures but do not necessarily correspond to specific object/hand configurations.
Associated grasp quality scores are available for download for further analysis.
See the following papers for use cases:
"Classical Grasp Quality Evaluation: New Theory and Algorithms"
, F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013
"Friction Coefficients and Grasp Synthesis"
, K. Hang, F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013
"Grasp Moduli Spaces"
, F. T. Pokorny, K. Hang, D. Kragic, RSS 2013.