The original HAMMER focuses on the annotation of real depth maps. Please visit here for more details. Download links containing grasp labels can be found as follows:
[scene2_traj1_1] [scene2_traj1_2] [scene2_traj2_1] [scene2_traj2_2]
[scene3_traj1_1] [scene3_traj2_1] [scene4_traj1_1] [scene4_traj2_1]
[scene5_traj1_1] [scene5_traj2_1] [scene6_traj1_1] [scene6_traj2_1]
[scene7_traj1_1] [scene7_traj2_1] [scene7_traj2_2] [scene8_traj1_1]
[scene12_traj2_2] To be updated.
The original PhoCaL focuses on the annotation of 6D object poses. Please visit here for more details. Download links can be found as follows (red ones contain grasp labels):
[sequence_5] [sequence_6] [sequence_7] [sequence_8]
[sequence_9] [sequence_10] [sequence_11] [sequence_12]
[sequence_13] [sequence_14] [sequence_15] [sequence_16]
README
Every grasp file is in h5 format under the grasps folder (under robot base) and its subfolder (under each camera pose).
>> h5ls -r /path/to/sequence/grasps/grasps_info_base.h5
/ Group
/cup_stanford Group
/cup_stanford/angles Dataset {110, 1}
/cup_stanford/axis Dataset {110, 3}
/cup_stanford/centers Dataset {110, 3}
/cup_stanford/end_points Dataset {110, 2, 3}
/cup_stanford/grasp_points Dataset {110, 2, 3}
/cup_stanford/qualities Group
/cup_stanford/qualities/object_in_gripper Dataset {110, 1}
/cup_stanford/transforms Dataset {110, 4, 4}
...
/glass_green_bottle Group
/glass_green_bottle/angles Dataset {428, 1}
/glass_green_bottle/axis Dataset {428, 3}
/glass_green_bottle/centers Dataset {428, 3}
/glass_green_bottle/end_points Dataset {428, 2, 3}
/glass_green_bottle/grasp_points Dataset {428, 2, 3}
/glass_green_bottle/qualities Group
/glass_green_bottle/qualities/object_in_gripper Dataset {428, 1}
/glass_green_bottle/transforms Dataset {428, 4, 4}
Grasp information:
/cup_stanford-- the object class; /axis--Directions of finger closing; /angles--Angles of rotation around the axis; /centers--Centers of two jaws; /end_points--Coordinates of the end fingers of two jaws (wide open); /grasp_points--Contact positions between fingers and objects; /qualities/object_in_gripper--success labels; /transforms--6 DoF poses of two jaws.
PhoCaL Sequence 7
HAMMER Scene 8