/Target-referenced-Reactive-Grasping-for-Dynamic-Objects

Primary LanguagePythonOtherNOASSERTION

Target-Referenced-Reactive-Grasping-for-Dynamic-Objects

This repo contains the implementation of the paper:
"Target Referenced Reactive Grasping for Dynamic Objects"

Requirements

  • Python 3.7
  • PyTorch 1.7
  • Open3d
  • TensorBoard
  • NumPy
  • SciPy
  • Pillow
  • tqdm
  • einops
  • Pytorch3d

Installation

Compile and install pointnet2 operators (code adapted from votenet).

cd pointnet2
python setup.py install

Compile and install knn operator (code adapted from pytorch_knn_cuda).

cd knn
python setup.py install

Install graspnetAPI for evaluation.

git clone https://github.com/graspnet/graspnetAPI.git
cd graspnetAPI
pip install .

License

All data, labels, code and models belong to the graspnet team, MVIG, SJTU and are freely available for free non-commercial use, and may be redistributed under these conditions. For commercial queries, please drop an email at fhaoshu at gmail_dot_com and cc lucewu at sjtu.edu.cn .