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baselines/grasping/GSNet/graspnetAPI/README.md

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+# graspnetAPI
+[![PyPI version](https://badge.fury.io/py/graspnetAPI.svg)](https://badge.fury.io/py/graspnetAPI)
+
+## Dataset
+
+Visit the [GraspNet Website](http://graspnet.net) to get the dataset.
+
+## Install
+You can install using pip.
+```bash
+pip install graspnetAPI
+```
+
+You can also install from source.
+
+```bash
+git clone https://github.com/graspnet/graspnetAPI.git
+cd graspnetAPI
+pip install .
+```
+
+## Document
+
+Refer to [online document](https://graspnetapi.readthedocs.io/en/latest/index.html) for more details.  
+[PDF Document](https://graspnetapi.readthedocs.io/_/downloads/en/latest/pdf/) is available, too. 
+
+You can also build the doc manually.
+```bash
+cd docs
+pip install -r requirements.txt
+bash build_doc.sh
+```
+
+LaTeX is required to build the pdf, but html can be built anyway.
+
+## Grasp Definition
+The frame of our gripper is defined as 
+<div align="center">
+    <img src="grasp_definition.png", width="400">
+</div>
+
+
+## Examples
+```bash
+cd examples
+
+# change the path of graspnet root
+
+# How to load labels from graspnet.
+python3 exam_loadGrasp.py
+
+# How to convert between 6d and rectangle grasps.
+python3 exam_convert.py
+
+# Check the completeness of the data.
+python3 exam_check_data.py
+
+# you can also run other examples
+```
+
+Please refer to our document for more examples.
+
+## Citation
+Please cite these papers in your publications if it helps your research:
+```
+@article{fang2023robust,
+  title={Robust grasping across diverse sensor qualities: The GraspNet-1Billion dataset},
+  author={Fang, Hao-Shu and Gou, Minghao and Wang, Chenxi and Lu, Cewu},
+  journal={The International Journal of Robotics Research},
+  year={2023},
+  publisher={SAGE Publications Sage UK: London, England}
+}
+
+@inproceedings{fang2020graspnet,
+  title={GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping},
+  author={Fang, Hao-Shu and Wang, Chenxi and Gou, Minghao and Lu, Cewu},
+  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR)},
+  pages={11444--11453},
+  year={2020}
+}
+```
+
+## Change Log
+
+#### 1.2.6
+
+- Add transformation for Grasp and GraspGroup.
+
+#### 1.2.7
+
+- Add inpainting for depth image.
+
+#### 1.2.8
+
+- Minor fix bug on loadScenePointCloud.