Significant cleanup of grasp planning - Githubissues

tylerlum / get_a_grip

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

https://sites.google.com/view/get-a-grip-dataset

MIT License

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Significant cleanup of grasp planning #6

Closed tylerlum closed 4 months ago

tylerlum commented 4 months ago

Changes:

Rename dex_sampler to bps_sampler and dex_evaluator to bps_evaluator
hand_config_to_pose to hand_config_np_to_pose
Clean up AllegroGraspConfig
Clean up object model
Add .pre-commit-config.yaml
Remove grasp_utils, consolidate in AllegroGraspConfig
Consolidate plot code
Create different hand models from grasp config
Clean up bps processing
Rename pointcloud to point_cloud
Create visualize bps grasp dataset file
Create visualize nerf grasp dataset file
Consolidate filter grasps code