Example DNaaS API calls and workflow in C#

Dnaas.cs

using System;
using System.IO;
using System.Net.Http;
using System.Text;
using Newtonsoft.Json;

class Dnaas {
    private static readonly HttpClient client = new HttpClient {
        BaseAddress = new Uri("http://automation.berkeley.edu/dex-net-api/"),
    };

    static void Main(string[] args) {
        var jsonParams = JsonConvert.SerializeObject(new {
            metric = "robust_ferrari_canny",
                gripper = new {
                    fingertip_x = 0.01,
                        fingertip_y = 0.01,
                        gripper_offset = 0.01,
                        palm_depth = 0.05,
                        width = 0.08
                }
        });
        var jsonContent = new StringContent(jsonParams, Encoding.UTF8, "application/json");
        var meshContent = new ByteArrayContent(File.ReadAllBytes("/path/to/your/mesh.obj"));
        var form = new MultipartFormDataContent();

        form.Add(meshContent, "file", "file");
        form.Add(jsonContent, "params", "params");
        var response = client.PostAsync("upload-mesh", form)
            .GetAwaiter()
            .GetResult();

        response.EnsureSuccessStatusCode();
        var result = response.Content.ReadAsStringAsync().Result;
        Console.WriteLine(result);
    }
}

@DiegoVil sounds like you got things working. Glad to help.

@wderose : Yes , its working now...

One more question: I have gone through the paper but I have a doubt.... in the poses that you calculate where is the origin ? in the center of mass of the object? how can I know where is located the basis of coordinates?

The stable pose-associated grasp is relative to the object. We assume the mesh is watertight, so it should be the CoM of the object. In order to use grasp configuration, you may still need to apply a transformation to grasp pose. The quaternion is wxyz.