Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
7002 changed files with 1452249 additions and 0 deletions
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+#!/bin/bash
+
+mkdir -p data && cd data
+
+
+gdown https://drive.google.com/uc?id=1AlfhZnGmlsKWGcNHFB1i8i8Jzn4VHB15
+unzip abandonedfactory.zip
+rm abandonedfactory.zip
+
+gdown https://drive.google.com/uc?id=0B-ePgl6HF260NzQySklGdXZyQzA
+unzip Barn.zip
+rm Barn.zip
+
+wget https://www.eth3d.net/data/slam/datasets/sfm_bench_mono.zip
+unzip sfm_bench_mono.zip
+rm sfm_bench_mono.zip
+
+wget https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_cabinet.tgz
+tar -zxvf rgbd_dataset_freiburg3_cabinet.tgz
+rm rgbd_dataset_freiburg3_cabinet.tgz
+
+wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_03_medium/MH_03_medium.zip
+unzip MH_03_medium.zip
+rm MH_03_medium.zip
+
+cd ..
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+#!/bin/bash
+
+
+ETH_PATH=datasets/ETH3D-SLAM/training
+
+# all "non-dark" training scenes
+evalset=(
+    cables_1
+    cables_2
+    cables_3
+    camera_shake_1
+    camera_shake_2
+    camera_shake_3
+    ceiling_1
+    ceiling_2
+    desk_3
+    desk_changing_1
+    einstein_1
+    einstein_2
+    # einstein_dark
+    einstein_flashlight
+    einstein_global_light_changes_1
+    einstein_global_light_changes_2
+    einstein_global_light_changes_3
+    kidnap_1
+    # kidnap_dark
+    large_loop_1
+    mannequin_1
+    mannequin_3
+    mannequin_4
+    mannequin_5
+    mannequin_7
+    mannequin_face_1
+    mannequin_face_2
+    mannequin_face_3
+    mannequin_head
+    motion_1
+    planar_2
+    planar_3
+    plant_1
+    plant_2
+    plant_3
+    plant_4
+    plant_5
+    # plant_dark
+    plant_scene_1
+    plant_scene_2
+    plant_scene_3
+    reflective_1
+    repetitive
+    sfm_bench
+    sfm_garden
+    sfm_house_loop
+    sfm_lab_room_1
+    sfm_lab_room_2
+    sofa_1
+    sofa_2
+    sofa_3
+    sofa_4
+    # sofa_dark_1
+    # sofa_dark_2
+    # sofa_dark_3
+    sofa_shake
+    table_3
+    table_4
+    table_7
+    vicon_light_1
+    vicon_light_2
+)
+
+for seq in ${evalset[@]}; do
+    python evaluation_scripts/test_eth3d.py --datapath=$ETH_PATH/$seq --weights=droid.pth --disable_vis $@
+done
+
+
+
+
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+#!/bin/bash
+
+
+EUROC_PATH=datasets/EuRoC
+
+evalset=(
+    MH_01_easy
+    MH_02_easy
+    MH_03_medium
+    MH_04_difficult
+    MH_05_difficult
+    V1_01_easy
+    V1_02_medium
+    V1_03_difficult
+    V2_01_easy
+    V2_02_medium
+    V2_03_difficult
+)
+
+for seq in ${evalset[@]}; do
+    python evaluation_scripts/test_euroc.py --datapath=$EUROC_PATH/$seq --gt=data/euroc_groundtruth/$seq.txt --weights=droid.pth $@
+done
+
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+#!/bin/bash
+
+
+TUM_PATH=datasets/TUM-RGBD/$seq
+
+evalset=(
+    rgbd_dataset_freiburg1_360
+    rgbd_dataset_freiburg1_desk
+    rgbd_dataset_freiburg1_desk2
+    rgbd_dataset_freiburg1_floor
+    rgbd_dataset_freiburg1_plant
+    rgbd_dataset_freiburg1_room
+    rgbd_dataset_freiburg1_rpy
+    rgbd_dataset_freiburg1_teddy
+    rgbd_dataset_freiburg1_xyz
+)
+
+for seq in ${evalset[@]}; do
+    python evaluation_scripts/test_tum.py --datapath=$TUM_PATH/$seq --weights=droid.pth --disable_vis $@
+done
+
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+#!/bin/bash
+
+
+TARTANAIR_PATH=datasets/TartanAir
+
+python evaluation_scripts/validate_tartanair.py --datapath=$TARTANAIR_PATH --weights=droid.pth --disable_vis $@
+