UMPNet: Universal Manipulation Policy Network for Articulated Objects
Zhenjia Xu,
Zhanpeng He,
Shuran Song
Columbia University
Robotics and Automation Letters (RA-L) / ICRA 2022
Project Page | Video | arXiv
Overview
This repo contains the PyTorch implementation for paper “UMPNet: Universal Manipulation Policy Network for Articulated Objects”.
Content
Prerequisites
The code is built with Python 3.6. Libraries are listed in requirements.txt and can be installed with pip by:
pip install -r requirements.txt
Data Preparation
Prepare object URDF and pretrained model.
Download, unzip, and organize as follows:
/umpnet
/mobility_dataset
/pretrained
...
Testing
Test with GUI
There are also two modes