Official code of paper "GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping".
This code has been tested on Ubuntu20.04 with Cuda 11.7, Python3.9 and Pytorch 1.13.1.
Environment: create a conda environment with necessary packages specified by requirements.txt.
Run the following code to generate the seperate gap_rl package:
pip install -e .You can run the following code to visualize the trajectories ({'random2d', 'line', 'circular', 'bezier2d'} as {'Rotation', 'Line', 'Circular', 'Random'} in the paper):
cd gap_rl/examples
python test_env_trajs.py