graspnetAPI

Forked from original repo on 28/11/2024.

Install

1. Download repo.

git clone https://github.com/alk15/graspnetAPI.git
cd graspnetAPI

2. The repo has been tested with python3.8.

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt install python3.8

3. Create an environment.

virtualenv -p python3.8 ./venv
source venv/bin/activate

4. Install from source.

pip install .

5. Point to GraspNet dataset.

export GRASPNET_HOME='/path/to/graspnet'

Document

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

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:

@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}
}