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Code to detect planar grasps

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Hi,when I run the example of grasp_image.py,I replace the input image as the image pcd0100r.png in the Cornell Dataset,which is very likely to the /few_images/6.jpg.However,the result as below is not...

Hello, is there any instruction or source to create and train a own grasp model of the grasp detector? Thanks for your help!