Handel Model for open door

• Dataset: Thanks for https://github.com/TX-Leo/DoorBot

  scripts for generate dataset create_dataset.py

• Train: handle_model.py

  • Input: RGB + Mask

  • Output: type: 0 for rotate lever, 1 for crossbar, 2 for doorknob
    orientation: 0 for horizon, 1 for vertical
    grasp point: point for grasp
    pivot point: point for rotate center (only for type 0)

  handle_model_rotate.py

  • Input: RGB + Mask

  • Output: grasp point: point for grasp
    pivot point: point for rotate center

• Test: test.py

• Export .pt for use in Tinker: load_model.py

https://cloud.tsinghua.edu.cn/d/2adf5a6492094c149173/ dataset and checkpoints