RAL-25-0680.mp4
Code is tested under Pytorch 1.12.1, python 3.7, and CUDA 11.6
pip install -r funcgra/requirements.txt You can download the sam_vit modles (Baidu Pan). The extraction code is: ca8a.
You can download the FAH from Baidu Pan (3.35G). The extraction code is: a6nv.
Run following commands to start training:
python train.py --data_root <PATH_TO_DATA> ####4. You can download the pretrained modles Baidu Pan). The extraction code is: 8qvk.
The simulation code was tested on Pytorch 1.13.1, Python 3.7, and CUDA 9.1
pip install -r requirements_sim.txt cd isaacgym/python python hand_move_to_drill_hold_no_pengzhuang.py python hand_move_to_drill_press_test.py python hand_move_to_flashlight_click python hand_move_to_flashlight_hold.py The experiments code was tested on Pytorch 1.12.0, Python 3.9, and CUDA 11.3
pip install -r requirements_exp.txt cd fungra/ python robot_control_click_the_flashlight.py python robot_control_press_the_spraybottle.py python robot_control_press_the_drill.py python robot_control_hold_the_kettle.py