## repository: https://code.ros.org/svn/wg-ros-pkg
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This package is currently unreleased. It will be included in the next released major version of the manipulation pipeline, tentatively scheduled for November 2010.

== Motivation ==
Please see the [[probabilistic_grasp_planner/motivation|motivation]] page.

== Overview ==
Please see the [[probabilistic_grasp_planner/overview|overview]] page.

<<Youtube(YiLzZdYAilI)>>

== Usage ==
This planner should act as a drop-in replacement for the database-backed planner. Trunk of the manipulation pipeline should automatically use it, 
Services:

 * [[http://www.ros.org/doc/api/object_manipulation_msgs/html/srv/GraspPlanning.html|GraspPlanning]]. Takes a graspable object containing all of the different representations for the object, and returns a sorted list of the grasps for that object, ordered by their estimated probability of success.

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