atenpas / gpg

Generate grasp pose candidates in point clouds

Grasp Pose Generator (GPG)

• Author: Andreas ten Pas ([e-mail])
• Version: 1.0.0
• Author's website: http://www.ccs.neu.edu/home/atp/
• License: BSD

1) Overview

This package creates grasp candidates for 3D point clouds and can check if they are antipodal using geometric conditions. To use the package, you only need PCL and Eigen (see below).

This package is part of GPD. Please notice that no machine learning is included in this part. The package just generates 6-DOF grasp poses for a 2-finger grasp.

2) Requirements

1. PCL 1.7 or later
2. Eigen 3.0 or later

3) Compilation

1. Open a terminal and clone the grasp_candidates_generator repository into some folder:

   $ cd <location_of_your_workspace>
   $ git clone https://github.com/atenpas/gpg.git
   

2. Build the project:

   $ cd grasp_candidates_generator
   $ mkdir build && cd build
   $ cmake ..
   $ make
   

3. (optional) Install the project:

   $ sudo make install
   

4) Generate Grasp Candidates for a Point Cloud File

Run the following from within the build folder:

$ ./generate_candidates ../cfg/params.cfg ~/data/some_cloud.pcd

5) Parameters

Brief explanations of parameters are given in cfg/params.cfg.

6) Citation

If you like this package and use it in your own work, please cite our arXiv paper:

@misc{1603.01564,
Author = {Marcus Gualtieri and Andreas ten Pas and Kate Saenko and Robert Platt},
Title = {High precision grasp pose detection in dense clutter},
Year = {2016},
Eprint = {arXiv:1603.01564},
}