ARCTIC Human Demonstration Data Processing

Process raw ARCTIC data

If you want to add a new object/demonstration clip in order to make a new task environment, you would need to process more data from ARCTIC.

First, follow the installation instructions from the ARCTIC repo (preferablly in a separate conda environment)

To download raw ARCTIC data, use their bash scripts: ./bash/download_misc.sh and ./bash/download_body_models.sh The raw data you downloaded from ARCTIC will contain only the essential data, which needs to be further processed to generate per-step object and MANO hand mesh (we need this for contact estimatation). Inside thearctic` repo, you would need to run something like:

python scripts_data/process_seqs.py --mano_p downloads/data/raw_seqs/s01/microwave_use_02.mano.npy --export_verts

which will generate a full sequence named outputs/processed_verts/seqs/s01/microwave_use_02.npy. ARCTIC has a nice built-in viewer that can load the demonstration and visualize them locally, the command looks something like:

python scripts_data/visualizer.py --no_image --seq_p arctic/outputs/processed_verts/seqs/s01/microwave_use_02.npy --mano --object

Contact Approximation

Then, come back to this dexmachina repo and run process_arctic.py to further process the output demonstration sequences.

Convex Decomposition on Collision Mesh

We use V-HACD for collision shape decomposition.