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)