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GAP-RL

Official code of paper "GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping".

Installation

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 .

Examples

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