dataset
PhysicalAI-Robotics-GraspGen
nvidia
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Overview
Name
PhysicalAI-Robotics-GraspGen
Source
nvidia
Episodes
0
Robot count
0
Format
other
Description
GraspGen: Scaling Sim2Real Grasping
GraspGen is a large-scale simulated grasp dataset for multiple robot embodiments and grippers.
We release over 57 million grasps, computed for a subset of 8515 objects from the Objaverse XL (LVIS) dataset. These grasps are specific to three grippers: Franka Panda, the Robotiq-2f-140 industrial gripper, and a single-contact suction gripper (30mm radius).
Dataset Format
The dataset is released in the WebDataset format. The… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GraspGen.
Robots used
null
Links
HuggingFace dataset