/tsgrasp

Repository for temperospatial grasping.

Primary LanguagePythonBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

tsgrasp

TSGrasp: spatio-temporal grasping. Multiple frames go in, dense 6-DOF grasps come out.

Demo Video

Installation

  • Install CUDA 11
  • conda install mamba
  • mamba env create -f environment.yaml
  • conda activate tsgrasp
  • pip install from https://github.com/NVIDIA/MinkowskiEngine
  • mamba install -c conda-forge ros-rospy
  • install ros_numpy from local build with pip install .
  • pip install kornia
  • pip install "git+https://github.com/facebookresearch/pytorch3d.git"

Usage

  • python -m train experiment=scene_random_yaw
  • python -m scripts.save_outputs