/dexpoint_sim

Primary LanguagePython

Install

# Install SAPIEN dev version, example for 3.8, you can choose a different whl file for 3.7, 3.9, 3.10
pip3 install sapien>=2.1.0

Download data file for hand detector and scene from Google Drive Link. Place the day.ktx at assets/misc/ktx/day.ktx.

gdown https://drive.google.com/uc?id=1Xe3jgcIUZm_8yaFUsHnO7WJWr8cV41fE

File Structure

  • hand_teleop: main entry for the environment, utils, and other staff needs for teleoperation and RL training.
  • assets: robot and object models, and other static files
  • main: entry files

How to use

Play with the runnable files inside the main directory. It provides an example of how to use PointCloud and Imaged Point Cloud in your environment.