Datasets
HAMMER Dataset and Grasp Labels
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.
PhoCaL Dataset and Grasp Labels
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.
Demo
PhoCaL Sequence 7
HAMMER Scene 8