Full Dataset
The Grasping Dataset
The dataset is split into two parts as follows:
Main files (recommended): Each of these files contains data for 2001 grasp pairs and can be found here.
As every file has the same number of grasp pairs, it is easier to design a dataloader to operate a batch in the meantime.
Tricky files: The data containing uneven grasp pairs can be found here.
If one has a specific task that requires extra data besides ones in the main files, these files can be on service.
Data format: e.g. Main files/1a3efcaaf8db9957a010c31b9816f48b_0.05676515519945774.h5
>> h5ls -r /path/to/dataset/1a3efcaaf8db9957a010c31b9816f48b_0.05676515519945774.h5
/ Group
/grasps Group
/grasps/angle Dataset {2001, 2}
/grasps/axis Dataset {2001, 2, 3}
/grasps/center Dataset {2001, 2, 3}
/grasps/end_points Dataset {2001, 2, 2, 3}
/grasps/grasp_points Dataset {2001, 4, 3}
/grasps/qualities Group
/grasps/qualities/Dexterity Dataset {2001, 1}
/grasps/qualities/Force_closure Dataset {2001, 1}
/grasps/qualities/Torque_optimization Dataset {2001, 1}
/grasps/transforms Dataset {2001, 2, 4, 4}
/object Group
/object/file Dataset {SCALAR}
/object/scale Dataset {SCALAR}
README
Geometric info ( /grasps):
/axis--Directions of finger closing; /angle--Angles of rotation around the axis; /center--Centers of two jaws; /end_points--Coordinates of the end fingers of two jaws (wide open); /grasp_points--Contact positions between fingers and objects; /transforms--6 DoF poses of two jaws.
Metrics info (/grasps/qualities):
/Dexterity--Minimum singular value; /Force_closure--Grasp stability; /Torque_optimization--Force minimization.
Mesh info: (/object) :
/file--Mesh IDs; /scale--Scales for shrinking meshes.