CoGrasp - Main file is grasping.py, which uses PoinTr to complete the PointCloud for the observed objects in the scene and ContactGraspnet to generate intial set of grasps for the set of objects in picture. Inspired from GraspTTA, hand orientation is generated which represents the standard/reliable way in which human grabs the interested oject. PruningNetwork is used to select aprropriate grasps that are human-aware.
Please refer to PoinTr, ContactGraspnet and GraspTTA for setting it up.
Check cograsp.yaml for installing all packages/libraries.