DS4	Co-design of Plan and Environment

=== Description === 
This dataset contains CAD models of the designed environment contraints which optimize the wall and corner EC primitives.

=== How was the data recorded? ===
The stl files were created with a CAD program and they model inlais for an IFCO tote whihc modifications to the interior improve grasp success when the ECE-Graph grasp planner is used. 

=== How to open the files? ===
Open the files with CAD desinging tools like MeshLab or SolidWorks.

=== Corresponding publication(s) ===
Clemens Eppner and Oliver Brock. Planning Grasp Strategies That Exploit Environmental Constraints. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4947 - 4952, 2015.
Link: Link: http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/eppner_icra2015.pdf