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Merge pull request #89 from IRVLUTD/multigrippergrasp
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update multigrippergrasp
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yuxng committed Apr 1, 2024
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<h1 class="title is-2 publication-title"> <span class="small-caps">MultiGripperGrasp:</span> A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands</h1>
<div class="is-size-5 publication-authors">

<span class="author-block">
<a target="_blank" href="https://lfcasas71.wixsite.com/luis-felipe-casas/">Luis Felipe Casas Murrilo</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
<a target="_blank" href="https://lfcasas71.wixsite.com/luis-felipe-casas/">Luis Felipe Casas Murrilo*</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
<span class="author-block">
<a target="_blank" href="https://kninad.github.io">Ninad Khargonkar</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
<a target="_blank" href="https://kninad.github.io">Ninad Khargonkar*</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
<span class="author-block">
<a target="_blank" href="https://personal.utdallas.edu/~praba/">Balakrishnan Prabhakaran</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
</span>
<span class="author-block">
<a target="_blank" href="https://yuxng.github.io">Yu Xiang</a>
</span>


</div>

<div class="is-size-5 publication-authors">
<span class="author-block"><a target="_blank" href="https://labs.utdallas.edu/irvl">The University of Texas at Dallas</a>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
<!-- <span id="accepted-conference" class="author-block"><br>IEEE International Conference on Robotics and Automation (ICRA), 2024</span> -->
</div>

<div class="is-size-5 publication-authors">
<span class="author-block">*equal contribution</span>
<!-- <span id="accepted-conference" class="author-block"><br>IEEE International Conference on Robotics and Automation (ICRA), 2024</span> -->
</div>

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<div class="publication-links">

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<span class="icon">
<i class="fab fa-github"></i>
</span>
<span> <span class="small-caps">Grasp Filtering: Isaac Sim</span>
<span> <span class="small-caps">Grasp Ranking: Isaac Sim</span>
</a>
</span>
</h2>
<p>
Python code for grasp filtering and grasp transfer using Isaac Sim.
Python code for grasp ranking and grasp transfer using Isaac Sim.
</p>
</div>
<!--/ Isaac Sim Code. -->
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<span class="icon">
<i class="fab fa-github"></i>
</span>
<span> <span class="small-caps">Grasp Candidates: Graspit-based generation</span>
<span> <span class="small-caps">Grasp Candidates: Graspit!-based generation</span>
</a>
</span>
</h2>
<p>
Python code for candidate grasp generation using GraspIt python interface.
Python code for candidate grasp generation using GraspIt! python interface.
</p>
</div>
<!--/ Graspit Code. -->
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<!-- Dataset. -->
<div class="columns is-centered has-text-justified">
<div class="column">
<h2 id="data" class="title is-3">Data</h2>

<!-- YCB Link -->
<div class="content has-text-justified">
<h2 class="title is-3">
<span class="link-block">
<a target="_blank" href="https://www.ycbbenchmarks.com/object-models/" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-link"></i>
</span>
<span> <span class="small-caps">YCB Objects</span>
</a>
</span>
</h2>
<p>
Link to <a target="_blank" href="https://www.ycbbenchmarks.com/">YCB</a> object models used in the dataset.
</p>
</div>
<!--/ YCB Link. -->

<!-- GoogleScannedObjects Link -->
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<h2 class="title is-3">
<span class="link-block">
<a target="_blank" href="https://app.gazebosim.org/GoogleResearch/fuel/collections/Scanned%20Objects%20by%20Google%20Research" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-link"></i>
</span>
<span> <span class="small-caps">GoogleScannedObjects</span>
</a>
</span>
</h2>
<p>
Link to <a target="_blank" href="https://blog.research.google/2022/06/scanned-objects-by-google-research.html">GoogleScannedObjects</a> models used in the dataset.
</p>
</div>
<!--/ GoogleScannedObjects Link. -->
<h2 id="data" class="title is-3">MultiGripperGrasp Dataset</h2>

<!-- Grasp Json Files. -->
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<div class="container is-max-desktop">

<h2 class="title">Contact</h2>
<p>Send any comments or questions to Luis Felipe Casas Murrilo: <a target="_blank" href="mailto:luis.casasmurillo@utdallas.edu">Luis.CasasMurillo@UTDallas.edu</a> </p>
<p>Send any comments or questions to Luis Felipe Casas Murrilo: <a target="_blank" href="mailto:luis.casasmurillo@utdallas.edu">Luis.CasasMurillo@UTDallas.edu</a>
<br> or Ninad Khargonkar: <a target="_blank" href="mailto:ninadarun.khargonkar@utdallas.edu">ninadarun.khargonkar@utdallas.edu</a></p>
</div>
</section>

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