GOAG -- Checkpoints and Data

Organize Directories

Extract the files ckpts.zip and GOAG_DATA.zip. Your directory tree should strictly follow this structure:

# Model Checkpoints
GOAG                        # Main folder
├── ...
├── logs                    # ckpts folder
    ├── allegro_cvae
    ├── allegro_pointnet
    ├── barrett_cvae
    ├── barrett_pointnet
    ├── shadowhand_cvae
    └── shadowhand_pointnet
└── ...

# Dataset Directory
GOAG_DATA
├── handprints
├── pointclouds
    ├── dexgrab
    ├── dexgraspnet
    ├── multidex
    ├── realdex
    └── unidexgrasp
├── urdf
    ├── objects
    │   ├── dexgrab
    │   ├── dexgraspnet
    │   ├── multidex
    │   ├── realdex
    │   └── unidexgrasp
    └── robot
        ├── allegro
        ├── barrett
        └── shadowhand
└── workspaces

Tell GOAG 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/GOAG'
export PYTHON_DATA_PATH='path/to/parent/of/GOAG_DATA/'

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