Licence
IMPORTANT: This dataset consists of a single compressed "zarr" dataset file that embeds for convenience grasping pose, objects mesh models and their properties (mass, inertial frame, ...). These models come from different sources with various LICENCES. You must read carrefully and abide to each LICENCE term. Specifically, you must abide to ShapeNet Licence term (https://huggingface.co/datasets/ShapeNet/ShapeNetCore) before using this database.
All YCB models are under Creative Commons Attribution 4.0 International (CC BY 4.0) licence. (see [http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/])
All original 3D models from the Graspnet to the graspnet team, MVIG, SJTU and are licensed under an Attribution-NonCommercial-ShareAlike 4.0 International licence. They are freely available for free non-commercial use, and may be redistributed under these conditions. For commercial queries, please drop an email at fhaoshu at gmail.com and cc lucewu at sjtu.edu.cn . (see [https://graspnet.net/datasets.html])
All egad models are under BSD 3-Clause License (see [https://github.com/dougsm/egad/blob/master/LICENSE])
All kit models come from the KIT ObjectModels Web Database. According to KIT ObjectModels Web Database : "You are free to use the object models for your own research or other non-commercial purposes. [...] When using the object data, please also keep in mind that the data compilation and the underlying research have been funded by the German Collaborative Research Center 588 "Humanoid Robots" and by the German Service Robotics Initiative "Desire". The relevant publications can be found in the publications section."
In contrast with original datasets, models have undergone various postprocessing steps (filtering, renaming, texture deletion, mesh simplification, shape augmentations, change of storage format)
Grasping poses and annotations and code are made available under Apache Licences, Version 2.0
Repo structure
LICENSE folder contains the licenses details from the different mesh datasets.
The Dataset of grasps is in the data folder
qdgset library provides examples to interact with the dataset (visualization of objects, export to .obj and .urdf for loading from standard interface in simulator, ... )
webpage : https://qdgrasp.github.io/qdg_set/
If you use our work please cite our paper :
@misc{huber2024qdgsetlargescalegrasping, title={QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity}, author={Johann Huber and François Hélénon and Mathilde Kappel and Ignacio de Loyola Páez-Ubieta and Santiago T. Puente and Pablo Gil and Faïz Ben Amar and Stéphane Doncieux}, year={2024}, eprint={2410.02319}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2410.02319}, }
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