Sg

[pechpo]

Add scene graph component.

[TokiLi]

Thank you for sharing another scene graph construction solution. I have some doubts during the running process and would like to consult you, looking forward to your reply:
Before running the RoboOS project, is it necessary to run sg independently first to build the scene graph in advance?
When running the RoboOS project, what are the respective versions of Python, PyTorch and CUDA required for the environmental dependencies?
I noticed an update_sg function in the sg code. Can the scene library also be updated in real time when running RoboOS? If so, how to handle the incompatibility between the PyTorch and CUDA versions required by sg's environmental dependencies and those of DROID-SLAM?
When installing the environmental dependencies for DROID-SLAM, the PyTorch version specified in your README is 1.0, which differs greatly from the latest inference version 2.7 recommended by the official. Is it feasible to use PyTorch 2.7 instead?