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

• Project page

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.

git clone https://github.com/ikalevatykh/mano_grasp.git
cd mano_grasp
python setup.py install --user --graspit_dir=$GRASPIT

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

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.

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.

First, we will need to dowload the dataset with the script provided here: https://github.com/sea-bass/ycb-tools/blob/main/download_ycb_dataset.py

• Add .decode('utf-8') at the end of line 25

-    html = response.read()
+    html = response.read().decode('utf-8')

• Change line 35:

-    files_to_download = ["berkeley_processed", "google_16k"]
+    files_to_download = ["google_16k"] # You can also use google_64k or google_512k

You can now download the models with the script with the following command:

python download_ycb_dataset.py

prepare_ycb_objects.py will scale the objects and genreate the necessary off and xml files for graspIt.

python prepare_ycb_objects.py --ycb_folder PATH_TO_YCB_FOLDER --graspit_dir=$GRASPIT

./generate_ycb_grasps.sh will create a ycb_grasps folder and save the generated json files there.

foo@bar:~/graspit_ros_ws/src/mano_grasp$ ./generate_ycb_grasps.sh

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}
}