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Merged
leshy merged 1 commit into from
Feb 13, 2026
Merged

chore(graspnet): remove old version #1248

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Empty file removed dimos/models/manipulation/__init__.py
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52 changes: 0 additions & 52 deletions dimos/models/manipulation/contact_graspnet_pytorch/README.md
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117 changes: 0 additions & 117 deletions dimos/models/manipulation/contact_graspnet_pytorch/inference.py
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73 changes: 0 additions & 73 deletions dimos/models/manipulation/contact_graspnet_pytorch/test_contact_graspnet.py
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2 changes: 0 additions & 2 deletions docs/development/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -63,13 +63,11 @@ uv run pytest dimos
Note, a few dependencies do not have PyPI packages and need to be installed from their Git repositories. These are only required for specific features:

- **CLIP** and **detectron2**: Required for the Detic open-vocabulary object detector
- **contact_graspnet_pytorch**: Required for robotic grasp prediction

You can install them with:

```bash
uv add git+https://github.com/openai/CLIP.git
uv add git+https://github.com/dimensionalOS/contact_graspnet_pytorch.git
uv add git+https://github.com/facebookresearch/detectron2.git
```

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26 changes: 4 additions & 22 deletions pyproject.toml
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Expand Up @@ -174,19 +174,6 @@ manipulation = [
# Planning (Drake)
"drake>=1.40.0",

# Contact Graspnet Dependencies
"h5py>=3.7.0",
"pyrender>=0.1.45",
"trimesh>=3.22.0",
"python-fcl>=0.7.0.4",
"pyquaternion>=0.9.9",
"matplotlib>=3.7.1",
"rtree",
"pandas>=1.5.2",
"tqdm>=4.65.0",
"pyyaml>=6.0",
"contact-graspnet-pytorch",

# Hardware SDKs
"piper-sdk",
"xarm-python-sdk>=1.17.0",
Expand All @@ -195,6 +182,10 @@ manipulation = [
"kaleido>=0.2.1",
"plotly>=5.9.0",
"xacro",

# Other
"matplotlib>=3.7.1",
"pyyaml>=6.0",
]


Expand Down Expand Up @@ -409,12 +400,3 @@ ignore = [
"dimos/dashboard/dimos.rbl",
"dimos/web/dimos_interface/themes.json",
]

[tool.uv]
# Build dependencies for packages that don't declare them properly
extra-build-dependencies = { contact-graspnet-pytorch = ["numpy"] }

default-groups = []

[tool.uv.sources]
contact-graspnet-pytorch = { git = "https://github.com/dimensionalOS/contact_graspnet_pytorch.git" }
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