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Toolbox for our GraspNet-1Billion dataset.
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graspnet/graspnetAPI
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Visit theGraspNet Website to get the dataset.
You can install using pip. (Note: The pip version might be old, install from the source is recommended.)
pip install graspnetAPI
You can also install from source.
git clone https://github.com/graspnet/graspnetAPI.gitcd graspnetAPIpip install.
Refer toonline document for more details.
PDF Document is available, too.
You can also build the doc manually.
cd docspip install -r requirements.txtbash build_doc.shLaTeX is required to build the pdf, but html can be built anyway.
The frame of our gripper is defined as
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.
Please cite these papers in your publications if it helps your research:
@article{fang2023robust, title={Robust grasping across diverse sensor qualities: The GraspNet-1Billion dataset}, author={Fang, Hao-Shu and Gou, Minghao and Wang, Chenxi and Lu, Cewu}, journal={The International Journal of Robotics Research}, year={2023}, publisher={SAGE Publications Sage UK: London, England}}@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}}- Add transformation for Grasp and GraspGroup.
- Add inpainting for depth image.
- Minor fix bug on loadScenePointCloud.
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Toolbox for our GraspNet-1Billion dataset.
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