RealDex

This repository is for RealDex dataset and the code for IJCAI 2024 paper RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

Dataset

You can download object models from this link: https://drive.google.com/file/d/1u4q9N_q-pgEYfyzr94vPk4YWkcx8vggh/view?usp=sharing

pip install gdown
pip install requests

Before download, first check the availability of the download links:

python download/download_dataset.py --test

If all links are available:

python download/download_dataset.py --dest_folder /path/to/zipped-data

Unzip the files:

python download/unzip_data.py --data_folder /path/to/zipped-data --dest_folder /path/to/data

data preprocess

Generate point clouds from RGBD images

cd ./data_preprocess
python gen_pcd.py

Installation

Training for grasp pose generation

cd dexgrasp_generation/

python ./network/train.py --config-name cm_net_config \
                          --exp-dir ./runs/cm_net_train

python ./network/train.py --config-name cvae_config \
                          --exp-dir ./runs/cvae_train

Acknowledgement

We have intensively borrow codes from the following repositories. Many thanks to the authors for sharing their codes.

• Unidexgrasp
• GOAL
• GraspTTA