MANO hand model porting for the GraspIt simulator

Overview

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}
}
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