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graspnet / graspnet-baseline

Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)
https://graspnet.net/
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is there a demo for us to show how to choose the best grasp pose #52

Closed dbdxnuliba closed 1 year ago

dbdxnuliba commented 1 year ago

By run CUDA_VISIBLE_DEVICES=0 python demo.py --checkpoint_path logs/log_kn/checkpoint-rs.tar wen an get a lot of grasp poses ,but how can we choose the most appropriate pose from them, is there a demo for us to show how to choose the best grasp pose image

chenxi-wang commented 1 year ago

That depends on what kind of grasp you want. The output grasps are stored in GraspGroup format (See this for detail). You can select grasps by adding a limitation mask on gg.scores, gg.translations or gg.rotation_matrices.