Toppling Dataset

Using a Dataset

Please download the following objects and the corresponding Toppling Dataset.

To use the dataset, please modify the .yaml file you pass into your policy to include the following. An example .yaml looks like this.

model:

load: 1

datasets:

mini_dexnet: <absolute path to dataset> # an example of this line would be "mini_dexnet: /home/chriscorrea14/mini_dexnet_dataset"

Creating a Dataset

You must first load your custom objects into a DexNet database. This is so that the policy can access grasps computed offline, and for efficiently loading states. You can easily create a new DexNet database using the command line interface: "python dexnet/apps/dexnet_cli.py".

Then run the topple dataset generation script: "python tools/create_topple_dataset.py" with the following parameters in your .yaml. Again, an example .yaml looks like this.

state_space:

object:

database_path: <path to dexnet database>

object_keys:

<dataset name>: all

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