CoToGrasp -- Checkpoints and Data

Organize Directories

Extract the files ckpt_allegro.zip, ckpt_shadowhand.zip and COTOGRASP_DATA.zip. Your directory tree should strictly follow this structure:

# Model Checkpoints
COTOGRASP                                           # Main folder
├── ...
├── logs                                            # ckpts folder
    ├── allegro_right_goag_dgcnn_types_2_0209
    └── shadowhand_goag_dgcnn_types_2_0128
└── ...

# Dataset Directory
COTOGRASP_DATA
├── handprints
├── pointclouds
    ├── dexgraspnet
    ├── multidex
        ├── contactdb
        └── ycb
├── urdf
    ├── objects
        ├── dexgraspnet
        ├── multidex
    └── robot
└── workspaces

Tell CoToGrasp Where Your Data Is

Choose one of the following methods to link the code to your data:

Option A: Export Environment Variables

export PYTHON_HOME_PATH='path/to/parent/of/COTOGRASP'
export PYTHON_DATA_PATH='path/to/parent/of/COTOGRASP_DATA/'

Option B: Hardcode in constants.py
Directly edit the ROOT_PATH and DATA_PATH variables within the file utils\constants.py.