WCL-Robotics/TaskGrasp-Pro

TaskGrasp-Pro数据集是对原始TaskGrasp数据集的扩展，为190个家用物品提供了细粒度的部件分解和部件级物理属性标注。对于每个物品实例，设计了三种类型的任务：类别相关任务、部件相关任务和部件无关任务，共计2,850个任务。数据集包含物品的点云、多视角RGB-D图像、不同类型的任务描述、采样抓取和抓取标签，以及针对不同设置的训练数据和物品类别信息。

The TaskGrasp-Pro dataset extends the original TaskGrasp dataset by providing fine-grained part decompositions and part-level physical property annotations for 190 household objects. For each object instance, we design three types of tasks: category-related tasks, part-related tasks, and part-irrelevant tasks, resulting in a total of 2,850 tasks. The dataset includes point clouds of objects, multi-view RGB-D images, different types of task descriptions, sampled grasps, and grasp labels, as well as training data for different settings and object category information.