MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
arxiv(2024)
摘要
We introduce a large-scale dataset named MultiGripperGrasp for robotic
grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects.
These grippers range from two-finger grippers to five-finger grippers,
including a human hand. All grasps in the dataset are verified in Isaac Sim to
classify them as successful and unsuccessful grasps. Additionally, the object
fall-off time for each grasp is recorded as a grasp quality measurement.
Furthermore, the grippers in our dataset are aligned according to the
orientation and position of their palms, allowing us to transfer grasps from
one gripper to another. The grasp transfer significantly increases the number
of successful grasps for each gripper in the dataset. Our dataset is useful to
study generalized grasp planning and grasp transfer across different grippers.
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