User Guide
Quickstart
Try it without installing
Run this to start the interactive grasp gallery:
uvx --from graspkit python -m graspkit.gallery.grasp_optim
Pick a hand, arm, and object. Press Optimize to generate grasps, then browse them with the Grasp slider. The gallery caches results for the next visit.
Optimize one grasp
After installing, run the smallest grasp optimization example:
uv run src/graspkit/examples/grasp_optim/01_basic.py
It optimizes xHand grasps for one YCB object and opens a Viser page to browse the results. Grasp optimization needs a CUDA GPU.
More examples
The scripts below are runnable. Paths are relative to the repository root.
| Directory | Scripts |
|---|---|
src/graspkit/examples/grasp_optim | 01_basic.py, 02_table.py, 03_arm.py, 04_sim_valid.py, 05_table_sim_valid.py, 06_arm_sim_valid.py, 07_mj_sim_valid.py |
scripts/launch.py | Run an experiment from grasp optimization through policy training. See The full pipeline. |
Example usage:
uv run src/graspkit/examples/grasp_optim/02_table.py