Read Me

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********************************************* SIMOX *************************************************
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1. About 
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Simox is a leightweight platform indepedent C++ toolbox containing three libraries for 3D simulation of 
robot systems, sampling based motion planning and grasp planning. The VirtualRobot library is used to 
define complex robot systems which may cover multiple robots with many degrees of freedom. The robot 
structure and it's visualisation can be easily defined via XML files and environments with obstacles 
and objects to manipulate are supported. The libraries GraspStudio and Saba use these definitions for 
planning grasps or collision-free motions. State-of-the-art implementations of sampling-based motion 
planning algorithms (e.g. Rapidly-exploring Random Trees) are served by the Saba library which was designed 
for efficient planning in high-dimensional configuration spaces. The library GraspStudio offers possibilities 
to compute grasp quality scores for generic end-effector definitions (e.g. a humanoid hand). The implemented 
6D wrench-space computations, offer the possibility to easily (and quickly) measure the quaility of an 
applied grasp to an object. Furthermore, the implemented planners are able to generate grasp maps for given 
objects automatically. The only external dependencies that are need on your system are: QT (a platform 
independent window toolkit) and Coin3D (an open inventor implementation) together with SoQt (to visualize 
open inventor scenes in QT windows)


2. Authors
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Main developer:
Nikolaus Vahrenkamp

GraspStudio Editor, Constrained Planning, Roadmaps and lots of IO stuff:
Anatoli Barski

GUI Interfaces and project files
Manfred Kröhnert

Initial RRT-Connect implementation:
Christian Scheurer

Grasp planning in force space:
Martin Do

Generic Jacobians:
Stefan Ulbrich


3. Installation
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Have a look at the readme files...


4. License
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See license.txt.


5. Contact
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Nikolaus Vahrenkamp

Humanoids and Intelligence Systems Lab (HIS)
Institute for Anthropomatics (IFA)
Karlsruhe Institute of Technology (KIT)
Kaiserstraße 12 
76131 Karlsruhe, Germany

vahrenkamp@kit.edu