GRASPA v1.0

Version 1.0

Version 1.0 features:

• 3 printable layouts of predefined grasping scenarios (composed of a subset of YCB objects and localization markers) to enhance test reproducibility.
• A protocol to assess the robot reachability and the calibration of the vision system within the defined grasping setup area.
• Usage of a popular grasp quality metric to evaluate user-provided grasping poses.
• A score to assess the grasp stability during the practical execution on the robot.
• The possibility to benchmark the algorithm either in isolation or in the clutter, with the definition of a further metric to evaluate the obstacle avoidance in the clutter modality.
• A composite score to quantify the overall performance of the algorithm accounting for reachability and calibration limits of the test platform.