File size: 2,374 Bytes
f6f5813 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | # RobotPosterior Dataset
Robotic grasp posterior data collected from Isaac Sim physical validation across multiple rounds.
## Contents
- **84 objects** (OakInk + DexYCB)
- **1861 successful grasps** verified by physics simulation (Franka Panda in Isaac Sim)
- Per-object HDF5 files with full grasp pose data
## HDF5 Schema
Each `{obj_id}_robot_gt.hdf5` contains:
```
/
├── attrs:
│ ├── obj_id (str)
│ ├── n_successful (int)
│ └── sources (str) e.g. "R1(×5) | R2(×13) | NEW(×20)"
│
└── successful_grasps/
├── attrs: count
└── grasp_N/
├── grasp_point (3,) float32 — contact midpoint, canonical mesh frame
├── rotation (3,3) float32 — gripper rotation matrix
├── approach_dir (3,) float32 — rotation[:, 2]
├── finger_dir (3,) float32 — rotation[:, 0]
├── [contact_points_local] (2,3) float32 — actual finger tip positions
└── attrs:
├── gripper_width (float) meters
├── score (float)
└── approach_type (str)
```
## Coordinate Frame
- `grasp_point`, `rotation`: **canonical mesh local frame** (Z-up, object bottom at Z=0)
- `contact_points_local`: world offset from `OBJECT_POSITION` in Isaac Sim
## Data Sources
| Label | Round | Server | Objects | Grasps |
|-------|-------|--------|---------|--------|
| R1 | Round 1 | Titan | 48 | ~231 |
| R2 | Round 2 | Titan | 55 | ~592 |
| R3 | Round 3 | Titan | 43 | ~181 |
| D1 | DexYCB R1 | Titan | 7 | ~14 |
| D2 | DexYCB R2 | Titan | 6 | ~41 |
| NEW | Round 0+1 | RTX5090 | 70 | ~802 |
## Candidate Generation
Grasp candidates generated with **50% Human-Prior guided + 50% random** sampling (v5.1 Raycast scorer).
All entries physically verified in **Isaac Sim** with Franka Panda robot.
## Usage
```python
import h5py, numpy as np
with h5py.File('C28001_robot_gt.hdf5', 'r') as f:
print(f"n_successful: {f.attrs['n_successful']}")
for key in f['successful_grasps'].keys():
g = f['successful_grasps'][key]
grasp_point = g['grasp_point'][:] # (3,) meters, mesh local frame
approach_dir = g['approach_dir'][:] # (3,) unit vector
width = g.attrs['gripper_width']
```
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