conda create -n analogical_grasping python=3.10;
conda activate analogical_grasping;
conda install -c conda-forge scikit-sparse;
pip install -e .;
git clone git@github.com:TheCamusean/mesh_to_sdf.git;
cd mesh_to_sdf; pip install -e .; cd ..;
Refer to original Readme to download data and trained models.
Train pointcloud conditioned model
python scripts/train/train_pointcloud_6d_grasp_diffusion.py
Train partial pointcloud conditioned model
python scripts/train/train_partial_pointcloud_6d_grasp_diffusion.py
If you are training on a machine with a display, you can add --summary 1
to the commands above to log visualizations of the generated grasps and SDF during training.
To overfit a single object for debugging, you can add --overfit_one_object 1
.