"Rock point cloud and grasp pose dataset"
收藏DataCite Commons2026-03-30 更新2026-05-03 收录
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https://ieee-dataport.org/documents/rock-point-cloud-and-grasp-pose-dataset
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资源简介：
"This is a dataset consisting of 30 point clouds of rocks and their grasp poses. The grasp pose is obtained from the simulation. Each rock point cloud has 100 different poses of grasp, along with corresponding finger joint angles, contact positions, etc. We used a board with four ArUco markers as the background to collect the point cloud of the rocks. Thus, the position of the camera could be determined, and the origin of the point cloud coordinate system was set at the centers of the four ArUco markers, and the coordinate system was aligned with the ArUco cmarkers. The subsequent \"paper fall\" method involves using collision detection to obtain different grasping effects under various grasp poses."
提供机构：
IEEE DataPort
创建时间：
2026-03-30
