This is a fork with additional functionality for saving results of evaluating grasps.

graspnetAPI

Dataset

Visit the GraspNet Website to get the dataset.

Document

Refer to online document for more details. PDF Document is available, too.

You can also build the doc manually.

cd docs
pip install -r requirements.txt
bash build_doc.sh

LaTeX is required to build the pdf, but html can be built anyway.

Grasp Definition

The frame of our gripper is defined as

Examples

cd examples

# change the path of graspnet root

# How to load labels from graspnet.
python3 exam_loadGrasp.py

# How to convert between 6d and rectangle grasps.
python3 exam_convert.py

# Check the completeness of the data.
python3 exam_check_data.py

# you can also run other examples

Please refer to our document for more examples.

Citation

Please cite these papers in your publications if it helps your research:

@inproceedings{fang2020graspnet,
  title={GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping},
  author={Fang, Hao-Shu and Wang, Chenxi and Gou, Minghao and Lu, Cewu},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR)},
  pages={11444--11453},
  year={2020}
}

Change Log

1.2.6

• Add transformation for Grasp and GraspGroup.

1.2.7

• Add inpainting for depth image.

1.2.8

• Minor fix bug on loadScenePointCloud.