DefGraspSim: Simulation-based grasping of 3D deformable objects

Overview

This website contains the following supplementary information for our submission:

1. Additional videos of simulated and real experiments

2. The codebase developed for our simulations, which can be used to simulate and evaluate grasps on arbitrary 3D deformable objects

3. The datasets containing measured grasp features and performance metrics on object primitives and complex objects

4. Interactive visualizations of grasp results on object primitives

Additional videos

Simulated grasp tests (left), and real-world validation experiments (right)

Codebase

Click here to access our codebase for 3D deformable object grasping, as well as the associated documentation.

Datasets

The full dataset on object primitives and complex objects will be made publicly available after the review process. At the moment, only the data for a few object primitives can be posted due to space limitations on our anonymized Google Drive account. Click here for details on the contents of each file.

Interactive Visualizations

Click here to interactively visualize grasps and performance metrics on 9 different object primitives.