Software Packages:

HarmonicRegression (C++/Python)

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

FastGrasp (C++/Python)

This C++ library with python bindings implements fast grasp quality evaluation methods outlined in our paper

"Classical Grasp Quality Evaluation: New Theory and Algorithms", F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013

Data sets:

RandomGrasps (NumPy)

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.