Source code of the paper PatchGraph: In-hand tactile tracking with learned surface normals.

Related tags

Deep Learning tactile-in-hand
Overview

PatchGraph

This repository contains the source code of the paper PatchGraph: In-hand tactile tracking with learned surface normals.

Installation

Create a virtual python environment using Anaconda:

conda create -n inhand python=3.7
conda activate inhand

Install the inhandpy python package. From the base directory execute:

cd inhandpy/
pip install -e .

Usage

In inhandpy, download datasets, pre-trained models and other local resources by running:

./download_local_files.sh

Stage 1: Tactile images to 3D point clouds

To run the example:

python scripts/examples/digit_rgb_to_cloud3d.py

By default, this runs the sim trials with cube shape. To run the example with other datasets and settings, please look at user set options under digit_rgb_to_cloud3d.yaml.

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Comments
  • How to add a normal shader to the Tacto?

    How to add a normal shader to the Tacto?

    Hello! Thanks for your excellent work. I would like to know how to add a normal shader to the Tacto just like you mentioned in your paper. Looking forward to your reply. Thanks.

    opened by estellexky 2
  • PyEval_RestoreThread: NULL tstate

    PyEval_RestoreThread: NULL tstate

    Hi, when I run the code, it shows the problems that " Fatal Python error: PyEval_RestoreThread: NULL tstate". How to cope with this problem, please?

    opened by holawx 0
Owner
Paloma Sodhi
Paloma Sodhi
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