LHS-LHS/Multi-GraspSet

Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic-Guided Grasp Generation

Project Page | arXiv

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Updates

• 2025.3: We add the Jaco hand data which is our final version.
• 2025.1: We add the Barrett hand data.
• 2024.12: Released the Multi-GraspSet dataset with meshes of objects.
• 2024.12: Released the Multi-GraspSet dataset with contact annotations.

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Overview

We introduce Multi-GraspSet, the first large-scale multi-hand grasp dataset enriched with automatic contact annotations.

The Construction process of Multi-GraspSet

Visualization of Multi-GraspSet with contact annotations

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Installation

Follow these steps to set up the evaluation environment:

1. Create the Environment

   conda create --name eval python=3.9
   

2. Install PyTorch and Dependencies

   pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2
   

   ⚠️ Ensure the CUDA toolkit version matches your installed PyTorch version.

3. Install Pytorch Kinematics

   cd ./pytorch_kinematics
   pip install -e .
   

4. Install Remaining Requirements

   pip install -r requirements_eval.txt
   

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Visualize the Dataset

1. Run the Visualization Code

   Open and execute the vis_mid_dataset.ipynb file to visualize the dataset.