GRID Docs | General Robotics

Generate grasps using GraspGen.

Parameters

Dict[str, Any]

required

Auxiliary parameters (num_grasps, gripper_config, camera_extrinsics).

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

Depth image (required if point_cloud is None).

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

Segmentation mask (required if point_cloud is None).

Union[str, np.ndarray, None]

3x3 intrinsics matrix (required if point_cloud is None).

Union[str, np.ndarray, Sequence[Sequence[float]], None]

Optional (N,3) point cloud as array/list/path to .npy. When provided, depth/seg/intrinsics are ignored and sent directly.

float | None

Optional HTTP timeout.

Returns

Dict with:

grasps: Array of 4x4 grasp poses (N, 4, 4)
confidence: Array of confidence scores (N,)
latency_ms: Optional server-reported latency in milliseconds

Example

from grid_cortex_client import CortexClient, ModelType
import numpy as np
from PIL import Image
client = CortexClient()
K = np.eye(3)
aux = {"num_grasps": 128, "gripper_config": "single_suction_cup_30mm", "camera_extrinsics": np.eye(4)}
depth_image = np.load("depth.npy")
seg_image = np.array(Image.open("seg.png"))
out = client.run(ModelType.GRASPGEN, depth_image=depth_image, seg_image=seg_image,
                 camera_intrinsics=K, aux_args=aux)
print(out["grasps"].shape)  # (N, 4, 4)
print(out["confidence"].shape)  # (N,)

Supported grippers

gripper_config accepts "robotiq_2f_140" (default), "single_suction_cup_30mm", or "franka_panda".

Reading the result

The call returns a dict — index it by key:

from grid_cortex_client import CortexClient
import numpy as np
from PIL import Image

client = CortexClient()
K = np.eye(3)
aux = {"num_grasps": 128, "gripper_config": "single_suction_cup_30mm", "camera_extrinsics": np.eye(4)}
depth_image = np.load("depth.npy")
seg_image = np.array(Image.open("seg.png"))

res = client.run(
    model_id="graspgen",
    depth_image=depth_image,
    seg_image=seg_image,
    camera_intrinsics=K,
    aux_args=aux,
)
print(res["grasps"].shape)  # (N, 4, 4)

Overview

Cortex Models

graspgen

Parameters

Returns

Example

Supported grippers

Reading the result

​Parameters

​Returns

​Example

​Supported grippers

​Reading the result

Parameters

Returns

Example

Supported grippers

Reading the result