From 891b04f44956aba418e09c7534fb447d5753acbd Mon Sep 17 00:00:00 2001 From: Claire Chen Date: Mon, 1 Jul 2024 11:13:09 -0700 Subject: [PATCH] Update README.md --- aograsp_dataset_utils/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aograsp_dataset_utils/README.md b/aograsp_dataset_utils/README.md index f63855f..2d17fbb 100644 --- a/aograsp_dataset_utils/README.md +++ b/aograsp_dataset_utils/README.md @@ -1,10 +1,10 @@ -# AO-Grasp dataset [coming soon] +# AO-Grasp dataset The AO-Grasp dataset contains 78,000 6 DoF parallel jaw grasps on 84 articulated object instances across 7 categories from the PartNet-Mobility dataset. It contains grasps for each object in 10 joint states: 1 closed state and 9 randomly-sampled open states. For each object state, we provide the full point clouds and partial point clouds captured from 20 randomly-sampled camera viewpoints, as well as part segmentation masks. Additionally, we include the pre-processed, PartNet-Mobility objects we used to generate data. We have pre-processed these instances by running V-HACD on their meshes to obtain convex meshes, which we find result in better collision geometries in PyBullet. ## Downloading the AO-Grasp dataset -[COMING SOON] +Fill out [this form](https://forms.gle/ksdUzmsuwUYzc3uG8) to download the AO-Grasp dataset and pre-processed object meshes. Note that the form will require you to sign into a Google account. ## Contents of the AO-Grasp dataset