Generating dexterous grasp poses.
Reference repository of DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation.
conda create -n dexgraspnet python=3.7
conda activate dexgraspnet
# for quick example, cpu version is OK.
conda install pytorch cpuonly -c pytorch
conda install ipykernel
conda install transforms3d
conda install trimesh
pip install pyyaml
pip install lxml
cd thirdparty/pytorch_kinematics
pip install -e .