BVDex

bimanual dexterous manipulation from videos

(download isaac gym preview) cd IsaacGym_Preview_4_Package/isaacgym/python conda create -y -n bvdex python=3.8 conda activate bvdex pip install ipdb addict yapf h5py sorcery pynvml seaborn numpy==1.21 einops tensorboard accelerate open3d anytree chumpy pytransform3d nlopt natsort hydra omegaconf gym git+https://github.com/isaac-sim/IsaacGymEnvs.git

python taco_dataset/TACOdataset.py --mode make_dataset --triplet "(stir, spatula, pan)"

triplet can be:

• "(empty, bowl, bowl)"
• "(stir-fry, spatula, pan)"

python -m pdb main.py task=BiLeapHandGrasp train=LeapHandGraspPPO num_envs=10000 headless=True algo=ppo

bash scripts/exearctic.sh capsulemachine_grab