GP-net: Grasp Proposal for Mobile Manipulators

This dataset includes all trained models and data to use and replicate our work for GP-net (under review for ICRA 2023).

The pre-trained model for using GP-net on a PAL TIAGo mobile manipulator with a parallel jaw gripper is available in GP-net_model_pretrained.zip. It can be used with our gpnet-ros repository.

If you want to use our dataset and train an alternative network architecture from scratch, use GP-net_training_data.zip. You can use it with the GP-net repository to train models. If you want to run simulation experiments with your trained model, download GP-net_simulation_data.zip for the URDFs of the test objects and pal gripper.

If you want to generate a new dataset for an alternative gripper, you can use the gpnet-data repository, which is based on DexNet2.0. The docker image to run the code is available here under gpnet-data_docker_image.tar