Week 13: Added complex objects, couldn't solve visualizing grasps

[jshapiro314]

@senior-design-rs

I spent this week researching the two problems outlined last week. The first was having the grasping algorithm work on complex objects (mugs and teapots). Before I was faced with the problem that I could not scale objects, so my teapot encompassed the entire scene. This week I was able to solve that problem. Though I couldn't change the scale within OpenRAVE, I was able to import a smaller teapot and mug. I was able to change the rotation and location, and now have the teapot and mug placed on the table. Additionally, the grasping algorithm works on these complex shapes, however it should be noted that there are fewer "good grasps" for the mug due to its large size. We know however that the handle should still be small enough for the arm to grab, so this illustrates one of the problems that this project will hopefully solve. Commit 90f2530 is when the objects were imported into the folder, while commit d115e54 and c954b04 place the teapot and mug into the scene and implement the grasping module on them respectively.

The second problem I attempted to solve was getting the end effector of the arm to move to the proper grasping position. Unfortunately I made little progress on this problem. After looking through the code and googling my issue, I made little progress. Today I emailed James Taylor and I hope he will get back to me this week with either a full solution or a lead I can follow.