tsgrasp

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

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