96 lines
2.2 KiB
Markdown
96 lines
2.2 KiB
Markdown
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# graspnetAPI
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[](https://badge.fury.io/py/graspnetAPI)
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## Dataset
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Visit the [GraspNet Website](http://graspnet.net) to get the dataset.
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## Install
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You can install using pip.
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```bash
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pip install graspnetAPI
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```
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You can also install from source.
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```bash
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git clone https://github.com/graspnet/graspnetAPI.git
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cd graspnetAPI
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pip install .
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```
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## Document
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Refer to [online document](https://graspnetapi.readthedocs.io/en/latest/index.html) for more details.
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[PDF Document](https://graspnetapi.readthedocs.io/_/downloads/en/latest/pdf/) is available, too.
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You can also build the doc manually.
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```bash
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cd docs
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pip install -r requirements.txt
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bash build_doc.sh
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```
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LaTeX is required to build the pdf, but html can be built anyway.
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## Grasp Definition
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The frame of our gripper is defined as
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<div align="center">
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<img src="grasp_definition.png", width="400">
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</div>
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## Examples
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```bash
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cd examples
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# change the path of graspnet root
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# How to load labels from graspnet.
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python3 exam_loadGrasp.py
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# How to convert between 6d and rectangle grasps.
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python3 exam_convert.py
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# Check the completeness of the data.
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python3 exam_check_data.py
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# you can also run other examples
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```
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Please refer to our document for more examples.
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## Citation
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Please cite these papers in your publications if it helps your research:
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```
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@article{fang2023robust,
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title={Robust grasping across diverse sensor qualities: The GraspNet-1Billion dataset},
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author={Fang, Hao-Shu and Gou, Minghao and Wang, Chenxi and Lu, Cewu},
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journal={The International Journal of Robotics Research},
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year={2023},
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publisher={SAGE Publications Sage UK: London, England}
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}
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@inproceedings{fang2020graspnet,
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title={GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping},
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author={Fang, Hao-Shu and Wang, Chenxi and Gou, Minghao and Lu, Cewu},
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booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR)},
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pages={11444--11453},
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year={2020}
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}
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```
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## Change Log
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#### 1.2.6
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- Add transformation for Grasp and GraspGroup.
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#### 1.2.7
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- Add inpainting for depth image.
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#### 1.2.8
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- Minor fix bug on loadScenePointCloud.
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