grasp_planning
This repository is for the Robotic Grasp Planning Project using Neural Networks. Currently, Cornell Grasping Dataset
(Robot Learning Lab, Computer Science Department, Cornell University) is used to train the neural networks.
Environment
- Ubuntu 14.04
Please install the following softwares before using this repository.
- Python 2.7.6
- Chainer 1.19.0
- Pygame 1.9.1 release
- OpenCV (CV2) 2.4.8
Usage
- Create a new directory and
git clone
this repository.
$ mkdir -p robotic_grasp/grasp_dataset && cd robotic_grasp
$ git clone https://github.com/Nishida-Lab/grasp_planning.git
-
Download
Cornell Grasping Dataset
from following URL.
http://pr.cs.cornell.edu/grasping/rect_data/data.php -
Move each dataset to the directory
grasp_dataset
according to the directory structure.
Directory Structure
robotic_grasp <- the directory you created
├── grasp_dataset <- Cornell Grasping Dataset
│ ├── 01
│ ├── 02 ... 10
│ └── backgrounds
└── grasp_planning <- this repository
Explanation of Cornell Grasping Dataset
Please read the document at the following URL.
http://pr.cs.cornell.edu/grasping/rect_data/readmeRawData.txt
Note
There are NaN data in the dataset
These two files in the dataset 01
contain some NaN data.
- pcd0132cpos.txt
- pcd0165cpos.txt
So please modify some files before you use them.
How to delete NaN data
These two files contain the information of the Grasping Rectangle
. They contain 4 lines for each rectangle. Each line contains the x and y coordinate of a vertex of that rectangle separated by a space. So when you want to delete NaN data, you need to delete 4 lines to maintain the structure of rectangles. You can modify the files by copying the contents below.
pcd0132cpos.txt
Raw data (before modification)
283 286.999
284 315
313 314
312 285.999
270 288.92
271 314
296 313
295 287.92
NaN NaN
256 313
277 313
NaN NaN
NaN NaN
236 314
259 314
NaN NaN
233 289.772
236 316
262 313
259 286.772
↓ modify the file like this
After modification
283 286.999
284 315
313 314
312 285.999
270 288.92
271 314
296 313
295 287.92
233 289.772
236 316
262 313
259 286.772
pcd0165cpos.txt
Raw data (before modification)
310 269.716
313 301
341 298
338 266.716
281 269.267
279 303
300 304
302 270.267
NaN NaN
300 305
321 305
NaN NaN
↓ modify the file like this
After modification
310 269.716
313 301
341 298
338 266.716
281 269.267
279 303
300 304
302 270.267