Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object’s body while avoiding other locations, such as the cap. This work presents a generative grasp sampling network, VCGS, capable of constrained 6-Degrees of Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10–15% higher grasp success rate than the baseline while being 2–3 times as sample efficient. Supplementary material is available on our project website.
The dataset can be found here.
If you want to directly download it then click here.
If you want to create a new dataset then check Code Repository
@article{lundell2023constrained,
title={Constrained generative sampling of 6-dof grasps},
author={Lundell, Jens and Verdoja, Francesco and Le, Tran Nguyen and Mousavian, Arsalan and Fox, Dieter and Kyrki, Ville},
journal={arXiv preprint arXiv:2302.10745},
year={2023}
}