Update README.md

README.md

@@ -1,43 +1,13 @@
-import numpy as np
-import heapq
 
-def heuristic(a, b):
-    return np.sqrt((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2)
-
-def astar(array, start, goal):
-    neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]
-    close_set = set()
-    came_from = {}
-    gscore = {start: 0}
-    fscore = {start: heuristic(start, goal)}
-    open_heap = [(fscore[start], start)]
-    array_shape = array.shape
-    array_get = array.__getitem__
-
-    while open_heap:
-        current_fscore, current = heapq.heappop(open_heap)
-
-        if current == goal:
-            path = []
-            while current in came_from:
-                path.append(current)
-                current = came_from[current]
-            return path[::-1]
-
-        close_set.add(current)
-        for i, j in neighbors:
-            neighbor = current[0] + i, current[1] + j
-
-            if 0 <= neighbor[0] < array_shape[0] and 0 <= neighbor[1] < array_shape[1]:
-                if array_get(neighbor) == 1 or neighbor in close_set:
-                    continue  # Skip obstacles and already visited nodes
-
-                tentative_g_score = gscore[current] + heuristic(current, neighbor)
-
-                if tentative_g_score < gscore.get(neighbor, float('inf')):
-                    came_from[neighbor] = current
-                    gscore[neighbor] = tentative_g_score
-                    fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
-                    heapq.heappush(open_heap, (fscore[neighbor], neighbor))
-
-    return None  # No path found
+git clone https://github.com/graspnet/graspnet-baseline.git
+cd graspnet-baseline
+pip install -r requirements.txt
+cd pointnet2
+python setup.py install
+cd knn
+python setup.py install
+git clone https://github.com/graspnet/graspnetAPI.git
+cd graspnetAPI
+pip install .
+CUDA_VISIBLE_DEVICES=0 python demo.py --checkpoint_path logs/log_kn/checkpoint.tar
+https://drive.google.com/file/d/1hd0G8LN6tRpi4742XOTEisbTXNZ-1jmk/view?pli=1