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--git a/O36001_robot_gt.hdf5 b/O36001_robot_gt.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ef1fddcd24e47037947b756a329b6f383538d667 Binary files /dev/null and b/O36001_robot_gt.hdf5 differ diff --git a/O36002_robot_gt.hdf5 b/O36002_robot_gt.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f7769882493a3a680456cfc27fd62e40f4a6f79d --- /dev/null +++ b/O36002_robot_gt.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e921ad9dd86e5a2297bed32353182c07feaab5f53b8bb9d582f6e96cd7f62729 +size 160928 diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e3daa4135e2e644c5d58ef3de5535e792e9ad681 --- /dev/null +++ b/README.md @@ -0,0 +1,69 @@ +# 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'] +``` diff --git a/S10001_robot_gt.hdf5 b/S10001_robot_gt.hdf5 new file mode 100644 index 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