Examples¶
execute_grasp_registration.py¶
Example demonstrating the workflow for grasp planning on a phyiscal robot using point cloud registration. Indexes the most robust grasp from the database and transforms it into the robot frame of reference.
Authors¶
Alan Li and Jeff Mahler
YAML Configuration File Parameters¶
- database : str
- full path to a Dex-Net HDF5 database
- dataset : str
- name of the dataset containing the object instance to grasp
- gripper : str
- name of the gripper to use
- metric : str
- name of the grasp robustness metric to use
- object : str
- name of the object to use (in practice instance recognition is necessary to determine the object instance from images)