Related Code

Dataset generation

You can reach the code from here.

⚠️ Note: Building the dataset would be time-consuming. Full files contain the generated dataset considering three metrics. If you want to add more measures, you can download the code and DIY yourself.

Dataset visualization

You can use this script to visualize the annotation results of every object in the dataset following the instruction in README.

⚠️ Note: This is different from the instructions in Samples, which aims to give you a glimpse.

Scene rendering

You can use this script to render scenes by following the instruction here.

Useful links: Trimesh, Pyrender, Contact-GraspNet, and ACRONYM.