GRID Docs | General Robotics

Generate grasps using ContactGraspNet.

Parameters

Union[str, Image.Image, np.ndarray, None]

Depth image (required).

Union[str, np.ndarray, None]

3×3 intrinsics matrix (required).

Union[str, Image.Image, np.ndarray, None]

Optional segmentation mask (uint8 H×W).

Dict[str, Any] | None

Optional dict. Keys: top_k (int, default 64), z_range ([float, float], default [0.2, 1.8]), local_regions (bool, default False), filter_grasps (bool, default False; requires seg_image), forward_passes (int, default 1).

float | None

Optional HTTP timeout.

Returns

Dict with:

grasps: (N, 4, 4) array of grasp poses in camera frame
confidence: (N,) array of confidence scores in [0, 1]
latency_ms: server-reported latency

Example

from grid_cortex_client import CortexClient, ModelType
import numpy as np
client = CortexClient()
depth = np.load("depth.npy")
K = np.array([[615,0,320],[0,615,240],[0,0,1]], dtype=np.float64)
out = client.run(ModelType.CONTACT_GRASPNET, depth_image=depth, camera_intrinsics=K, aux_args={"top_k": 32})
print(out["grasps"].shape)  # (<=32, 4, 4)

Overview

Cortex Models

contact-graspnet

Parameters

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Example

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Example