Stable-Grasp-Generation-Enabled-by-Affordance-Understanding

🚀 Project Progress

• Open-source the dataset
  Dataset is published at this link with raw data. The code for building the dataset in Vrep or Sapien has provided.

  The annotation results of objects in GraspNet-1Billion can be downloaded at this link.

• Open-source code
  ETA: Soon

📋 Pending Tasks

• Create core code documentation

• Add usage examples and demos

• Setup contribution guidelines

📂 Dataset Structure

├── Chair

  ├── object_0

    ├── sem

​      ├── train

          ​├── train_0.png...train_199.png    # train images with annotation

​    ├── train

      ├── train_0.png...train_199.png      # train images

    ├── transforms_train.json        # poses of train images

├── Dispenser

├── Door

├── Faucet

├── Kettle

├── Keyboard

├── Kitchenpot

├── Lamp

├── StorageFurniture

├── Table

└── Toilet