Skip to content

Commit

Permalink
Update README.md
Browse files Browse the repository at this point in the history
  • Loading branch information
@ClaireLC
ClaireLC authored Apr 1, 2024
1 parent 4f38817 commit 630f0f5
Showing 1 changed file with 25 additions and 25 deletions.
50 changes: 25 additions & 25 deletions aograsp_dataset_utils/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,31 +14,31 @@ Fill out [this form](https://forms.gle/EVZbZGMYRiyKpo6GA) to download the AO-Gra

```
aograsp_dataset_2024
└── Box # category
└── 47645 # instance
└── 0 # state, 10 per instance
├── init_state.npz # information for loading object into PyBullet
├── point_cloud_info.npz # full point cloud and segmentation mask
└── raw/ # grasp data files
└── pos/ # positive grasps
├── 0000.npz # positive grasp 0
├── ... # positive grasps 1, 2, 3...
└── neg/ # negative grasps
├── 0000.npz # negative grasp 0
├── ... # negative grasps 1, 2, 3...
└── raw_ref_img/ # grasp data episode rollout images
└── pos/ # positive grasp images
├── 0000_0.png # positive grasp 0, image 0- gripper at start pose; pre collision check
├── 0000_1.png # positive grasp 0, image 1- gripper at start pose; after collision check
├── 0000_2.png # positive grasp 0, image 2- gripper after grasp
├── 0000_3.png # positive grasp 0, image 3- gripper after action
├── ... # images for positive grasps 1, 2, 3...
└── neg/ # negative grasps
├── ... # images for negative grasps 1, 2, 3...
└── render/ # partial point clouds, 20 per state
├── all_renders.png # RGB images of all 20 camera viewpoints
└── 0000/ # Camera viewpoint 0
├── info.npz # Camera pose, IDs of ground truth grasps in partial point cloud
└── Box # category
└── 47645 # instance
└── 0 # state, 10 per instance
├── init_state.npz # information for loading object into PyBullet
├── point_cloud_info.npz # full point cloud and segmentation mask
└── raw/ # grasp data files
└── pos/ # positive grasps
├── 0000.npz # positive grasp 0
├── ... # positive grasps 1, 2, 3...
└── neg/ # negative grasps
├── 0000.npz # negative grasp 0
├── ... # negative grasps 1, 2, 3...
└── raw_ref_img/ # grasp data episode rollout images
└── pos/ # positive grasp images
├── 0000_0.png # positive grasp 0, image 0- gripper at start pose; pre collision check
├── 0000_1.png # positive grasp 0, image 1- gripper at start pose; after collision check
├── 0000_2.png # positive grasp 0, image 2- gripper after grasp
├── 0000_3.png # positive grasp 0, image 3- gripper after action
├── ... # images for positive grasps 1, 2, 3...
└── neg/ # negative grasps
├── ... # images for negative grasps 1, 2, 3...
└── render/ # partial point clouds, 20 per state
├── all_renders.png # RGB images of all 20 camera viewpoints
└── 0000/ # Camera viewpoint 0
├── info.npz # Camera pose, IDs of ground truth grasps in partial point cloud
├── point_cloud_seg.npz # Partial point cloud from viewpoint 0, segmentation mask, ground truth grasp-likelihood labels
├── rgb.png # RGB image of object from viewpoint 0
├── seg.png # Segmentation mask visualization from viewpoint 0
Expand Down

0 comments on commit 630f0f5

Please sign in to comment.