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--- |
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language: |
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- en |
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license: cc-by-sa-4.0 |
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size_categories: |
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- n>1T |
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task_categories: |
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- object-detection |
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- image-segmentation |
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- robotics |
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pretty_name: GC6D |
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tags: |
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- robot |
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--- |
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# GraspClutter6D Dataset |
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[GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes](https://arxiv.org/abs/2504.06866) |
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[Seunghyeok Back](http://backseunghyeok.com/), Joosoon Lee, Kangmin Kim, Heeseon Rho, Geonhyup Lee, Raeyoung Kang, Sangbeom Lee, Sangjun Noh, Youngjin Lee, Taeyeop Lee, Kyoobin Lee |
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Accepted at IEEE Robotics and Automation Letters (RA-L) |
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[[ArXiv]](https://arxiv.org/abs/2504.06866) [[Project Website]](https://sites.google.com/view/graspclutter6d/) [[Video]](https://youtu.be/NkKkfVS5wZ4) [[Dataset Format]](https://sites.google.com/view/graspclutter6d/dataset) [[GitHub]](https://github.com/SeungBack/graspclutter6dAPI.git) |
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To download the dataset, run the following commands: |
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```bash |
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mkdir GraspClutter6D && cd GraspClutter6D |
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export SRC=https://huggingface.co/datasets/GraspClutter6D/GraspClutter6D/resolve/main |
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# scene data |
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wget $SRC/split_info.7z |
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wget $SRC/scenes.7z.001 |
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wget $SRC/scenes.7z.002 |
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wget $SRC/scenes.7z.003 |
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wget $SRC/scenes.7z.004 |
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wget $SRC/scenes.7z.005 |
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7z x split_info.7z |
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7z x scenes.7z.001 |
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# for object pose estimation |
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wget $SRC/models.7z |
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wget $SRC/models_eval.7z |
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wget $SRC/models_obj.7z |
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wget $SRC/models_obj_eval.7z |
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7z x models.7z |
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7z x models_eval.7z |
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7z x models_obj.7z |
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7z x models_obj_eval.7z |
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# for grasp detection |
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wget $SRC/grasp_label.7z |
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wget $SRC/collision_label.7z |
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wget $SRC/dex_models.7z |
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wget $SRC/models_m.7z |
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wget $SRC/models_obj_m.7z |
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7z x grasp_label.7z |
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7z x collision_label.7z |
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7z x dex_models.7z |
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7z x models_m.7z |
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7z x models_obj_m.7z |
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``` |
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### Dataset Toolkit Usage |
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This dataset comes with a Python API and toolkit (`graspclutter6dAPI`) to facilitate loading, manipulating, and evaluating 6D grasp pose annotations. |
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**Installation:** |
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You can install the toolkit via pip: |
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```bash |
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pip install graspclutter6dAPI |
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``` |
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Alternatively, install from source: |
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```bash |
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conda create -n gc6d python=3.8 |
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conda activate gc6d |
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git clone https://github.com/SeungBack/graspclutter6dAPI.git |
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cd graspclutter6dAPI |
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pip install -e . |
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``` |
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**Environment Setup:** |
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Before running examples, set the `GC6D_ROOT` environment variable to your dataset location: |
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```bash |
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export GC6D_ROOT='/path/to/graspclutter6d' |
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``` |
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**Usage Examples:** |
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* **Validate Dataset Integrity:** |
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```bash |
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python examples/exam_check_data.py |
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``` |
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* **Load Grasp Annotations:** |
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```bash |
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python examples/exam_loadGrasp.py |
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``` |
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* **Visualize Grasp Annotations:** |
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```bash |
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python examples/exam_vis.py |
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``` |
