hoangcuongbk80/graspable_objPose

Python

graspable_objPose

Dataset

Download GraspNet-1Billion
Download the the ground truth data for Point-wise Graspable Segmentation

Requirements

Python 3
PyTorch 1.8
Open3d 0.8
TensorBoard 2.3
NumPy
SciPy
Pillow
tqdm

Installation

Install graspnetAPI for using GraspNet-1Billion dataset.

git clone https://github.com/graspnet/graspnetAPI.git
cd graspnetAPI 
pip install .

Visualize the ground truth data

python vis_graspability.py

Training and Testing

Training and testing code will be available upon paper acceptance.