fix bugs

Author: GouMinghao

graspnetAPI/__init__.py

@@ -1,5 +1,5 @@
 __author__ = 'mhgou'
-__version__ = '1.2.9'
+__version__ = '1.2.10'
 
 from .graspnet import GraspNet
 from .graspnet_eval import GraspNetEval

graspnetAPI/graspnet.py

@@ -658,16 +658,8 @@ def loadGrasp(self, sceneId, annId=0, format = '6d', camera='kinect', grasp_labe
                 grasp_group.grasp_group_array = np.concatenate((grasp_group.grasp_group_array, obj_grasp_array))
             return grasp_group
         else:
-            import copy
             # 'rect'
-            # for rectangle grasp, collision labels and grasp labels are not necessray. 
-            ##################### OLD LABEL ################
-            ############### MODIFICATION NEEDED ############
             rect_grasps = RectGraspGroup(os.path.join(self.root,'scenes','scene_%04d' % sceneId,camera,'rect','%04d.npy' % annId))
-            # mask = rect_grasp_label[:,5] >= (1.1 - fric_coef_thresh)
-            # rect_grasp_label = rect_grasp_label[mask]
-            # rect_grasp = RectGraspGroup()
-            # rect_grasp.rect_grasp_group_array = copy.deepcopy(rect_grasp_label)
             return rect_grasps
 
     def loadData(self, ids=None, *extargs):