mano_pybullet
MANO-based hand models for the PyBullet simulator.
Install
From source code
git clone https://github.com/ikalevatykh/mano_pybullet.git
cd mano_pybullet
python setup.py develop
or
python setup.py install
Run tests
export MANO_MODELS_DIR='/path/to/mano_v*_*/models/'
pytest
Download MANO models
- Register at the MANO website and download the models.
- Unzip the file mano_v*_*.zip:
unzip mano_v*_*.zip - Set environment variable:
export MANO_MODELS_DIR=/path/to/mano_v*_*/models/
Hand models
The package provides MANO-based rigid hand model.
Gym environments
The package also provides several OpenAI gym environments:
-
HandEnv - base environment with one or two hands on the scene.
-
HandObjectEnv - base environment with hands and an object on the scene.
-
HandLiftEnv - environment where the target is to lift an object.
- HandPushEnv - environment where the target is to push an object.
Graphical debugging
python -m mano_pybullet.tools.gui_control
usage: GUI debug tool [-h] [--dofs DOFS] [--left-hand] [--right-hand] [--visual-shapes] [--no-visual-shapes] [--self-collisions] [--no-self-collisions]
optional arguments:
- -h, --help show help message and exit
- --dofs DOFS number of degrees of freedom (20 or 45) [default=20]
- --left-hand show left hand
- --right-hand show right hand [default]
- --visual-shapes show visual shapes [default]
- --no-visual-shapes hide visual shapes
- --self-collisions enable self collisions [default]
- --no-self-collisions disable self collisions
Citation
If you find mano_pybullet useful in your research, please cite the repository using the following BibTeX entry.
@Misc{kalevatykh2020mano_pybullet,
author = {Kalevatykh, Igor et al.},
title = {mano_pybullet - porting the MANO hand model to the PyBullet simulator},
howpublished = {Github},
year = {2020},
url = {https://github.com/ikalevatykh/mano_pybullet}
}
License
mano_pybullet is released under the GPLv3.