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Frequently Asked Questions
What is Dex-Net as a Service?
Dex-Net as a Service (DNaaS) is a cloud-based grasp planning
system for parallel-jaw grippers that provides a graphical user
interface and API access to Dex-Net 1.0, a robust grasp planning
system based on wrench mechanics and stochastic sampling.
DNaaS allows anyone online to compute parallel-jaw grasps
on triangular meshes and visualize the results.
Where can I read the original Dex-Net as a Service (DNaaS) research paper?
The original DNaaS paper will appear at
and is available
online as a PDF.
How can I find an .obj file to upload to DNaaS?
- 1. Find an object you like on
Thingiverse and click it to
view more details.
- 2. Download All Files using the blue box in the upper right on the Thingiverse website.
- 4. Navigate to the downloaded folder on your computer and unzip or extract the entire .zip file.
5. Inside the unzipped folder, go into Files and find the .stl file for the object on your computer.
- 3. Use the
Free Convert Tool to convert the .stl file to an .obj file. Be sure to select
the correct Output Format (WaveFront Object (.obj)), so DNaaS can understand your
- 4. When the conversion is done, click the .obj file link on the Converter
webpage to download it to your computer
for use by Dex-Net as a Service (DNaaS).
- 5. Return to the home page and use the Upload Object button to
select your object for processing by DNaaS.
What scale does DNaaS expect uploaded .obj meshes to be in?
DNaaS interprets mesh object units to be specified in meters.
The browser client will rescale any mesh you upload to fit within the given gripper by default.
If you wish to disable this feature and
use the scale given in your original .obj, uncheck the "Autoscale mesh" box on the top right
of 3D scene. This may lead to no grasps being found due to a scale mismatch between the gripper
Why does the gripper sometimes not appear in the 3D window?
The gripper does not appear sometimes in the 3D window due to a mismatch
between the scale of the gripper object mesh and the current target object mesh. Drastically different
scales prevent us from rendering both meshes (the gripper and target object) visibly in the scene.
For example, uploading a cm-scaled mesh may result in the gripper (specified in meter-scale) appearing
as a very small object in the scene.
Where can I read more about the DNaaS HTTP API?
The DNaaS API documentation is hosted
for users interested in accessing the service directly via HTTP.
Are there any examples of using the DNaaS HTTP API programmatically?
Examples of how to access the DNaaS API via
are available online.