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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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why the prediction of grasp_width is multiplied 1.2 when construct grasp pose? #90

Closed xins981 closed 5 months ago

xins981 commented 5 months ago

https://github.com/graspnet/graspnet-baseline/blob/fb2f089a9515d2a5e433b28b53827c1c914437f2/models/graspnet.py#L87

chenxi-wang commented 5 months ago

It is manually set to reduce collisions caused by calibration errors in real robot experiments.