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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.