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Releases: hsp-iit/GRASPA-benchmark

GRASPA v1.0

29 Aug 13:23
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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.