/fast-graspability-baseline

A C++/Python repository for Fast Graspability Evaluation (FGE) [Domae et al., 2014], a model-free grasp detection algorithm

Primary LanguagePython

Fast Graspability Evaluation

Python and C++ code for fast graspability evaluation

Paper: Domae et al., Fast graspability evaluation on single depth maps for bin picking with general grippers, ICRA 2014, PDF

drawing

Usage

Clone this repository. Detect collision-free grasps for a test image in fast-graspability-evaluation/data/depth.png

  1. Python
cd fast-graspability-evaluation/python
python run_graspability.py
  1. C++
cd fast-graspability-evaluation/cpp
mkdir build && cd build
cmake ..
make
./run_graspability