graspnetAPI

Dataset

Visit the GraspNet Website to get the dataset.

Install

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.git
cd graspnetAPI
pip install .

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

<div align="center"> <img src="grasp_definition.png", width="400"> </div>

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}
}

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.