Revamp create and train nerf grasp evaluator, remove unused code

tylerlum / get_a_grip

Official implementation of Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer

MIT License

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Closed tylerlum closed 4 months ago

tylerlum commented 4 months ago

Changes:

Clean up devices
Rename classifier to evaluator
Rename grasp_metric to nerf_evaluator_wrapper
Fix up use of diffusion
Clean up separate nerf_sampler
Remove unused code
Make new files for nerf_evaluator_wrapper and allegro_grasp_config
Add visualization script separate from create data script
Rewrite train nerf grasp evaluator script to be proper script and add vis script