Install in conda environment

conda install -c conda-forge pcl cmake boost./build_pygpg.sh

Example:

importnumpyasnpimportpygpgpoints=np.random.rand(3000,3)# put your point cloud here, should be a nX3 numpy array, here is an example random arraynum_samples=10000show_grasp=Falsegripper_config_file="PATH_TO_GRIPPER_CONFIG_FILE"# see gripper_params.cfg for an examplegrasps=pygpg.generate_grasps(points,num_samples,show_grasp,gripper_config_file)# grasps is a list of grasp objet, to construct a Transformation matrix from each grasp object, use:pose_list= []forgraspingrasps:pose=np.eye(4)pose[:3,0]=grasp.get_grasp_approach()pose[:3,1]=grasp.get_grasp_binormal()pose[:3,2]=grasp.get_grasp_axis()pose[:3,3]=grasp.get_grasp_bottom()pose_list.append(pose)

Demo with a simple box:

python example/example.py

Citation

@software{pygpg,  author       = {Hongzhuo Liang},  title        = {Python binding for Grasp Pose Generator (pyGPG)},  month        = Aug,  year         = 2021,  doi          = {10.5281/zenodo.5247189},  url          = {https://doi.org/10.5281/zenodo.5247189}}