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21
baselines/grasping/GSNet/graspnetAPI/gen_pickle_dexmodel.py
Executable file
21
baselines/grasping/GSNet/graspnetAPI/gen_pickle_dexmodel.py
Executable file
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__author__ = 'mhgou'
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from graspnetAPI.utils.eval_utils import load_dexnet_model
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from tqdm import tqdm
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import pickle
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import os
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##### Change the root to your path #####
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graspnet_root = '/home/gmh/graspnet'
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##### Do NOT change this folder name #####
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dex_folder = 'dex_models'
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if not os.path.exists(dex_folder):
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os.makedirs(dex_folder)
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model_dir = os.path.join(graspnet_root, 'models')
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for obj_id in tqdm(range(88), 'dump models'):
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dex_model = load_dexnet_model(os.path.join(model_dir, '%03d' % obj_id, 'textured'))
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with open(os.path.join(dex_folder, '%03d.pkl' % obj_id), 'wb') as f:
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pickle.dump(dex_model, f)
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