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DNaaS API Documentation

The DNaaS API is currently hosted on http://automation.berkeley.edu. All meshes uploaded to the server are logged for academic research purposes.

Endpoints

  • POST /dex-net-api/upload-mesh
    • Parameters:
      1. file
        • Description:
          • Triangular-faced, watertight 3D object mesh file, in binary format.
      2. params
        • Description: Dictionary of parameters. Available parameters:
          • metric: Metric to use for grasp quality. robust_ferrari_canny, robust_force_closure, ferrari_canny, or force_closure.
          • config: General grasp quality parameters. Currently available:
            • friction_coef: Friction coefficient for for metric computation.
          • gripper: specifies parallel-jaw gripper parameters (used by DNaaS for grasp pruning).
        • Example value:
         {
             "metric" : "robust_ferrari_canny",
             "config" : {
                 "friction_coef" : 0.5
             },
             "gripper": {
                 "fingertip_x": 0.01,
                 "fingertip_y": 0.01,
                 "palm_depth": 0.2,
                 "width": 0.07
             }
         }
    • Example response:
        {
          "id": <UUID>
        }
  • GET /dex-net-api/<MESH_ID>/processing-progress
    • Example response:
        {
          "state": "done"
        }
  • GET /dex-net-api/<MESH_ID>/grasps
    • Example response:
        [
          {
            "axis": [-0.89, 0.4, -0.2], // direction of grasp axis in object space
            "center": [0.002, -0.0004, 0.0007], // center of grasp axis in object space
            "metric_score": 0.01,
            "open_width": 0.07
          }, ...
        ]
  • GET /dex-net-api/<MESH_ID>/stable-poses
    • Example response:
        {
            "0": {
                "quaternion": [
                    0.59, 
                    0.47, 
                    0.50, 
                    0.48
                ], 
                "translation": [
                    0.0, 
                    0.0, 
                    0.0231
                ]
            },
            "1": { ... }
        }
  • GET /dex-net-api/<MESH_ID>/stable-poses/<POSE_ID>/filtered-grasps
    • Example response:
        [
            {
                "axis": [ 0.99, 0.07, -0.08 ], // direction of grasp axis in object space
                "center": [ -0.001, 0.01, -0.05], // center of grasp axis in object space
                "metric_score": 0.002, 
                "open_width": 0.07
            }
        ]
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