How do I collect grasp_label data for new objects?

[JohnBrann]

Hello,

I have been messing around with this code for the past few days and have a few questions.

I am interested in generating grasps for single objects represented as a point cloud. Similar to the first example shown with the cheez-its box in this documentation. (https://graspnetapi.readthedocs.io/en/latest/example_vis.html#)

I have been able to run the code and test the generation with many of the YCB objects that were provided to us. All of those object came with already defined grasp_label data in the format 003_label.npz which have .npy files for points, scores, collisions, and offsets. As I mentioned above I want to use my own object to generate grasps and present them very similar to cheez-its box example. How do we generate the 003_label.npz data for an object. I thought there would be a process like 'pass in point cloud' -> 'data gets calculated'. I have seen people with similar questions and while the authors have mentioned to read the documentation/paper about the process, they do not explain how they actually do it. They only explain the general process they use which is not too complex.

Do they have scripts they ran on their own machines to generate the grasp_label data? How do they collect this data? Why is this not provided with the code or graspnetAPI.

I did also see there was some type of annotation method that people filled out a form to get access to. I filled out this form.

If someone could help that would be greatly appreciated!

[Hriver-J]

I'm doing the same thing. This maybe quite a complex work as I learned

1. I made a 3D models for a object like a_toy.obj, then I used SDFGen mentioned in Dex-net(https://github.com/BerkeleyAutomation/dex-net) to generate the .sdf file, and then I used open3d to generate the .ply file, these files are necessary according to "checkDataCompleteness".

However, I now have trouble with the .ply files: The .ply files in dataset have color message, but I don't know how to get it.

2. I compared the 'points' message in xxx_labels.npz and the 'points' in .objs, the points' numbers and value are different: The points in xxx_labels.npz is down sampled, and it's value has been transfered

If you make make some progress or you have some ideas, could you share?

[gordenxu]

I have the same question， how can I transfer a poincloud and grasp pose to graspbaseline format