Samples

Objects and grasp pairs

You can download grasp samples from here for a glimpse.

⚠️ Note: Sample files are only used to show the grasp generation results. For using the full data, please refer to Full files.

Instructions

You can use Trimesh to show the grasp result. Just simply run the following commands in the terminal:

pip3 install trimesh

and

python3

>>import trimesh

>>obj = trimesh.load("path/to/the/sample.obj")

>>obj.show()


OR use Meshlab: sudo apt-get -y install meshlab.

(For mac users, you can conveniently use Xcode to open it.)

If everything goes right, you will see the results like the following images:

Grasps belonging to the same pair are marked by two tiny balls in the same colour. For a better viewing experience, only 100 pairs are embedded in the samples.