dex1_1_annotations

Parallel-gripper grasp annotations.

Contents

21 objects, 4336 grasps (updated 2026-09-28T20:48:13+00:00).

Category	Objects	Grasps
apple	5	1340
ball	2	18
bottle	4	1716
cup	5	775
rubik_cube	5	487

Layout

<category>/<object>/Annotation/dex1_1_grasp_pose.json
<category>/<object>/Object.usd
<category>/<object>/textures/Scan.jpg
manifest.json

Object names are the OmniObject3D object ids. Object.usd (with textures/) is the exact object the grasps were generated and validated on: same mesh, scale and frame. Point a simulator at the <category>/<object>/ folder; MagicSim loads Annotation/*.json next to the USD it spawns.

Each dex1_1_grasp_pose.json:

{
  "type": "<category>",
  "bottom_center": [x, y, z],
  "functional_grasp": {"body": [[x, y, z, qw, qx, qy, qz], ...]},
  "grasp": {}
}

functional_grasp.body holds the physics-validated grasps: the pose of the gripper base frame in the object frame (metres, quaternion w-first). manifest.json lists every object with its grasp count and the sha256 of its annotation and Object.usd, and records the pipeline commit (15bfcd7f81c36033b6dbdb99952816cc5c22603c) and the full config (config_dex1_1.yaml) the grasps were generated with.