metadata
license: mit
task_categories:
- robotics
- object-detection
language:
- en
tags:
- robotics
- grasping
- affordance
- hand-object-interaction
- contact-detection
- YCB
- DexYCB
- HO3D
- FoundationPose
- MANO
pretty_name: Affordance2Grasp Preprocessed Assets
size_categories:
- 1G<n<10G
Affordance2Grasp — Preprocessed Assets
Preprocessed object meshes and initialization files for the Affordance2Grasp pipeline.
This repository contains assets you download once before running the pipeline. The pipeline then generates per-dataset intermediate data (depth maps, MANO estimates, poses, contact labels) from the raw videos, which are not included here due to size and licensing constraints.
Contents
| Folder | Size | Description |
|---|---|---|
obj_meshes/ycb/ |
~1 GB | YCB object meshes + scale.json (metric scale) for all objects used in DexYCB and HO3D v3 |
obj_recon_input/ycb/ |
~50 MB | FoundationPose initialization masks (reference images + bounding boxes) for each YCB object |
training_fp/dexycb/ |
~1 MB | Validated contact labels for DexYCB ycb_dex_01 and ycb_dex_02 (sanity-check reference) |
Usage
pip install huggingface_hub
python -c "
from huggingface_hub import snapshot_download
snapshot_download(
repo_id='StZaBL/Affordance2Grasp-ProcessedData',
repo_type='dataset',
local_dir='data_hub/ProcessedData',
)
"
Then follow the pipeline in the main repository README.
Supported Datasets
Both datasets use the same YCB objects — the meshes here cover all required objects.
| Dataset | Objects covered |
|---|---|
| DexYCB | 20 YCB objects (ycb_dex_01 – ycb_dex_20) |
| HO3D v3 | 003_cracker_box, 004_sugar_box, 006_mustard_bottle, 010_potted_meat_can, 011_banana, 021_bleach_cleanser, 035_power_drill, 052_extra_large_clamp |
Raw Data
Raw videos must be downloaded separately from the official sources:
- DexYCB: https://dex-ycb.github.io
- HO3D v3: https://www.tugraz.at/institute/icg/research/team-lepetit/research-projects/hand-object-3d-pose-annotation
Related
- Code: stzabl-png/UCB_Project
- Pipeline: Depth Pro → HaPTIC → FoundationPose → Contact Labels → Affordance Model → Robot Grasp