Grasp Detection algorithms

Directed Research under Prof Berk Calli (Worcester Polytechnic Institute)

Installation Instructions

pip install torch easydict tensorflow tf_slim shapely
pip install --upgrade opencv-python
mkdir -p grasp_algo_ws/src
cd grasp_algo_ws/src
git clone https://github.com/cdbharath/grasp_synthesis
cd ..
catkin build
source devel/setup.bash

How to run:

# To run Mask Based Algo
rosrun mask_based_algo service_server.py

# To run Top Surface Algo
roslaunch top_surface_algo top_surface.launch

# To run GGCNN
rosrun ggcnn service_server.py

# To run ResNet Based Algo
rosrun ros_deep_grasp service_server.py

References:

1. GGCNN ROS wrapper
2. Learning robust, real-time reactive robotic grasping
3. Multi Object Multi Grasp Predictor