{"id":13728309,"url":"https://github.com/ivalab/grasp_multiObject","last_synced_at":"2025-05-08T00:31:34.799Z","repository":{"id":80765110,"uuid":"122764938","full_name":"ivalab/grasp_multiObject","owner":"ivalab","description":"Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as multi-object extension of Cornell Dataset.","archived":false,"fork":false,"pushed_at":"2020-07-28T20:48:34.000Z","size":104,"stargazers_count":101,"open_issues_count":2,"forks_count":21,"subscribers_count":5,"default_branch":"master","last_synced_at":"2024-08-04T02:07:59.570Z","etag":null,"topics":["cornell-dataset","dataset","grasp","grasping","iros2018","ra-l","robotics"],"latest_commit_sha":null,"homepage":null,"language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ivalab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2018-02-24T17:55:51.000Z","updated_at":"2024-07-28T07:01:57.000Z","dependencies_parsed_at":"2023-02-25T17:46:33.566Z","dependency_job_id":null,"html_url":"https://github.com/ivalab/grasp_multiObject","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ivalab%2Fgrasp_multiObject","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ivalab%2Fgrasp_multiObject/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ivalab%2Fgrasp_multiObject/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ivalab%2Fgrasp_multiObject/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ivalab","download_url":"https://codeload.github.com/ivalab/grasp_multiObject/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224679890,"owners_count":17351884,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cornell-dataset","dataset","grasp","grasping","iros2018","ra-l","robotics"],"created_at":"2024-08-03T02:00:40.261Z","updated_at":"2024-11-14T19:30:58.862Z","avatar_url":"https://github.com/ivalab.png","language":"MATLAB","readme":"# grasp_multiObject\n\nRobotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data.   \nThis dataset is annotated using the same protocal as [Cornell Dataset](http://pr.cs.cornell.edu/grasping/rect_data/data.php), and can be used as multi-object extension of Cornell Dataset.  \n\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"https://github.com/ivalab/grasp_multiObject_multiGrasp/blob/master/fig/ivalab_dataset.png\" alt=\"drawing\" width=\"300\"/\u003e\n\u003c/p\u003e\n\n------------------------------\n\n## Usage\nDownload [RGB-D data](https://www.dropbox.com/s/hrox34p9ymw8jv7/rgbd.tar.gz?dl=0) and put into `grasp_multiObject/rgbd/`  \n\nEach testing data has one RGB image (rgb_xxxx) and one depth image (depth_xxxx).   \nThe corresponding grasp annotation (rgb_xxxx_annotations) can be found in `grasp_multiObject/annotation/` \n\n## Generate RG-D data?\n```\nmkdir rgd\nrun rgbd2rgd\n```\n\nyou will have RG-D data in `grasp_multiObject/rgd/`\n\n## Crop images?\n```\nmkdir rgd_cropped320\nmkdir rgb_cropped320\nrun image2txt\n```\n\nyou will have cropped RGB and RGD images in `grasp_multiObject/rgd_cropped320/` and `grasp_multiObject/rgb_cropped320/`, respectively.\n\nalso, you will have corresponding annotation files, as well as a full list of image path.\n\n## Visualize grasp?\n```\nrun visualizationGripper\n```\nthis file shows a simple example to visualize ground truth grasps\n\n\n## Annotate your own data?\n```\ngit clone https://github.com/ivalab/grasp_annotation_tool\n```\n\nyou can annotate grasps on your own data with this simple tool!  \nBoth dataset and annotation tool can also be found [here](https://www.dropbox.com/s/cwko0qubmqoxehb/multiObj_multiGrasp.tar.gz?dl=0)\n\n\n## Citation\nIf you find it helpful for your research, please consider citing:\n\n    @inproceedings{chu2018deep,\n      title = {Real-World Multiobject, Multigrasp Detection},\n      author = {F. Chu and R. Xu and P. A. Vela},\n      journal = {IEEE Robotics and Automation Letters},\n      year = {2018},\n      volume = {3},\n      number = {4},\n      pages = {3355-3362},\n      DOI = {10.1109/LRA.2018.2852777},\n      ISSN = {2377-3766},\n      month = {Oct}\n    }\n\n\nIf you encounter any questions, please contact me at fujenchu[at]gatech[dot]edu\n\n\n","funding_links":[],"categories":["[Datasets](#datssets)"],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fivalab%2Fgrasp_multiObject","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fivalab%2Fgrasp_multiObject","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fivalab%2Fgrasp_multiObject/lists"}