Learning Joint Reconstruction of Hands and Manipulated Objects - ManoGrasp
Porting the MANO hand model to GraspIt! simulator
Yana Hasson, Gül Varol, Dimitris Tzionas, Igor Kalevatykh, Michael J. Black, Ivan Laptev, Cordelia Schmid, CVPR 2019
Install
Setup ROS interface
This package uses a ROS interface for the GraspIt! simulator.
To install and setup this interface follow the instructions at https://github.com/graspit-simulator/graspit_interface.
Install package
git clone https://github.com/lwohlhart/mano_grasp.git
cd mano_grasp
python setup.py install --user --graspit_dir=$GRASPIT
Model
Model ManoHand will be automatically copied to $GRASPIT directory during the installation.
To copy a model without the code installation use the command:
python setup.py --copy_model_only --graspit_dir=$GRASPIT
Prepare objects
Make sure you have meshlab installed:
sudo apt install meshlab
To prepare object files (.obj, .stl, .ply, .off) for graspit:
python -m mano_grasp.prepare_objects --models_folder /PATH/TO/YOURDATASET/ --file_out YOURDATASET_objects.txt
Usually you want to apply some scaling to the objects to fit the hand, therefore append scales options:
--scales 1000
Use
python -m mano_grasp.prepare_objects --help
to see all available options.
Generate grasps
Start ROS master in one terminal:
roscore
Then in a second terminal start generator:
python -m mano_grasp.generate_grasps --models_file YOURDATASET_objects.txt --path_out PATH_TO_DATASET
Use
python -m mano_grasp.generate_grasps --help
to see all available options.
Citations
If you find this code useful for your research, consider citing:
@INPROCEEDINGS{hasson19_obman,
title = {Learning joint reconstruction of hands and manipulated objects},
author = {Hasson, Yana and Varol, G{\"u}l and Tzionas, Dimitris and Kalevatykh, Igor and Black, Michael J. and Laptev, Ivan and Schmid, Cordelia},
booktitle = {CVPR},
year = {2019}
}