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Prepare data&assets for grasp generation and arm motion planning

  1. Download the ignore-file.zip and upzip the file.

  2. Put the contents in ignore-file/assets/ into ${YOUR_PATH}/Scene-Diffuser/assets/ and put the contents in ignore-file/envs/assets/ into ${YOUR_PATH}/Scene-Diffuser/envs/assets/.

  3. Download the MultiDex_UR dataset, then specify asset_dir configs/task/grasp_gen_ur.yaml. You can also change them in the bash files, e.g., scripts/grasp_gen_ur/train.sh.

  4. Download the FK2PlanDataset dataset, then specify data_dir in configs/task/franka_planning.yaml. You can also change them in the bash files, e.g., scripts/franka_planning/train.sh.