GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping

Description

Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object grasping. However, most existing datasets exclude deformable bodies due to the lack of scalable, robust simulation pipelines, limiting the development of generalizable models for compliant grippers and soft manipulands. To address these challenges, we present

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