伪代码：基于点云的 6‑DoF 抓取检测

import open3d as o3d from your_model import GraspNet

pcd = o3d.io.read_point_cloud("scene.pcd") pcd.estimate_normals()

model = GraspNet() candidates = model.detect(pcd) # 返回 [(pose, width, score)] candidates = collision_filter(candidates, gripper_urdf) best = max(candidates, key=lambda x: x[2]) robot.execute_grasp(best.pose, best.width)