- Python 3.6 or higher
- PyTorch 1.4.0 or higher
- Pixar USD lib (optional, for advanced visualization)
Pre-built USD Python libraries can be downloaded from https://developer.nvidia.com/usd, once they are downloaded you should follow the corresponding instructions to add them to your PYTHONPATH
environment variable. Besides using the provided basic visualizer implemented using pyvista, Grasp'D can generate USD files for rendering, e.g., in NVIDIA Omniverseā¢ or usdview.
Using anaconda set up a python environment with conda env create -vv -f grasping/docker/environment.yml
or use grasping/docker/Dockerfile
to build a docker image.
You can download discretized SDFs for the YCB objects here.
Unzip and copy these to grasping/data/ycb
.
The folder structure should look like:
grasping/data/ycb
|-- 002_master_chef_can
|-- 003_cracker_box
|-- ...
To collect grasps for the YCB banana, try running python grasping/scripts/collect_grasps.py collector_config=011a_banana
.
See grasping/conf/collect_grasps
for configuration options.