ethHuiZhang/GraspXL

GraspXL 是一个大规模、物理合理的灵巧抓取运动序列数据集，基于 Objaverse 物体。它包含了针对不同手模型生成的抓取运动，以及记录序列所使用的处理后的物体网格。主要归档文件涵盖了多样化的手-物体交互，其中手从不同方向接近物体。桌面归档文件提供了一个补充设置，物体被放置在桌面上，手从上方接近，这对于专注于桌面抓取场景的应用非常有用。GraspXL is a large-scale dataset of physically plausible dexterous grasping motion sequences over Objaverse objects. It contains generated grasping motions for different hand models, together with processed object meshes used by the recorded sequences. The main archives cover diverse hand-object interactions where hands approach objects from different directions. The tabletop archives provide a complementary setting where objects are placed on a table and hands approach from above, which is useful for applications focused on tabletop grasping scenes.