Contact-GraspNet
Dockerized Contact-GraspNet for ease of use.
To quickly generate grasp proposals in research projects while avoiding a dependency hell, I have dockerized the amazing Contact-GraspNet network.
You can find the repo here and a prebuilt docker container here.
The network has proven fairly robust during some tests in the lab while the docker overhead on the inference time is neglible. The limitations of using point clouds are still there of course.
To quickly set up this demo in under 200 lines of code, I used the airo-mono packages.