diff --git a/get_proposals_from_pcd.sh b/get_proposals_from_pcd.sh
new file mode 100755
index 0000000..63a927b
--- /dev/null
+++ b/get_proposals_from_pcd.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+PCD_PATH="$1"
+
+AO_CONDA_ENV="ao-release"
+CGN_CONDA_ENV="cgn"
+
+CGN_ROOT_DIR="./contact_graspnet"
+
+OUTPUT_DIR="./output"
+
+# Get heatmap prediction
+echo "Running run_pointscore_inference.py to get heatmap predictions..."
+conda run -n $AO_CONDA_ENV python run_pointscore_inference.py --pcd_path $PCD_PATH --output_dir $OUTPUT_DIR
+
+# Get heatmap path
+filename=$(basename -- "$PCD_PATH")
+extension="${filename##*.}"
+data_name="${filename%.*}"
+heatmap_path=$OUTPUT_DIR"/point_score/"$data_name".npz"
+
+if [ ! -f $heatmap_path ]; then
+    echo "Heatmap file" $heatmap_path "not found! Heatmap inference may have failed. Exiting..."
+    exit 1
+fi
+
+echo "Getting grasp orientations..."
+
+# Generate and save grasp proposals
+conda run -n $CGN_CONDA_ENV python contact_graspnet/contact_graspnet/run_cgn_on_heatmap_file.py $heatmap_path --viz_top_k 10 --viz_save_as_mp4
+
+proposal_path=$OUTPUT_DIR"/grasp_proposals/"$data_name".npz"
+echo "Saved grasp proposals to "$proposal_path