Duplicate from GraspClutter6D/GraspClutter6D

Co-authored-by: Seungback <[email protected]>

.gitattributes

@@ -0,0 +1,162 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000001.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000003.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000005.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000009.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000010.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000011.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000013.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000014.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000016.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000018.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000020.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000022.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000024.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000025.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000026.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000027.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000030.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000032.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000034.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000035.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000037.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000038.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000039.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000046.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000051.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000053.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000055.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000061.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000062.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000065.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000066.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000067.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000069.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000070.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000071.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000076.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000077.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000081.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000083.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000085.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000087.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000089.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000091.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000092.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000097.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000099.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000100.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000102.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000103.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000104.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000105.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000106.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000110.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000112.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000113.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000114.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000116.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000119.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000120.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000121.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000122.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000125.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000126.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000127.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000128.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000130.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000131.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000132.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000134.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000137.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000138.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000140.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000143.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000144.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000145.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000146.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000148.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000154.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000155.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000156.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000158.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000159.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000160.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000165.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000166.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000167.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000168.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000174.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000180.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000184.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000187.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000188.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000189.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000192.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000194.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000195.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000196.ply filter=lfs diff=lfs merge=lfs -text
+models_eval/obj_000199.ply filter=lfs diff=lfs merge=lfs -text
+scenes.7z.001 filter=lfs diff=lfs merge=lfs -text
+scenes.7z.002 filter=lfs diff=lfs merge=lfs -text
+scenes.7z.003 filter=lfs diff=lfs merge=lfs -text
+scenes.7z.004 filter=lfs diff=lfs merge=lfs -text
+scenes.7z.005 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,109 @@
+---
+language:
+- en
+license: cc-by-sa-4.0
+size_categories:
+- n>1T
+task_categories:
+- object-detection
+- image-segmentation
+- robotics
+pretty_name: GC6D
+tags:
+- robot
+---
+
+# GraspClutter6D Dataset
+
+[GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes](https://arxiv.org/abs/2504.06866)
+
+[Seunghyeok Back](http://backseunghyeok.com/), Joosoon Lee, Kangmin Kim, Heeseon Rho, Geonhyup Lee, Raeyoung Kang, Sangbeom Lee, Sangjun Noh, Youngjin Lee, Taeyeop Lee, Kyoobin Lee
+
+Accepted at IEEE Robotics and Automation Letters (RA-L)
+
+[[ArXiv]](https://arxiv.org/abs/2504.06866) [[Project Website]](https://sites.google.com/view/graspclutter6d/) [[Video]](https://youtu.be/NkKkfVS5wZ4) [[Dataset Format]](https://sites.google.com/view/graspclutter6d/dataset) [[GitHub]](https://github.com/SeungBack/graspclutter6dAPI.git)
+
+To download the dataset, run the following commands:
+```bash
+mkdir GraspClutter6D && cd GraspClutter6D
+export SRC=https://huggingface.co/datasets/GraspClutter6D/GraspClutter6D/resolve/main
+
+# scene data
+wget $SRC/split_info.7z
+wget $SRC/scenes.7z.001
+wget $SRC/scenes.7z.002
+wget $SRC/scenes.7z.003
+wget $SRC/scenes.7z.004
+wget $SRC/scenes.7z.005
+7z x split_info.7z
+7z x scenes.7z.001
+
+# for object pose estimation
+wget $SRC/models.7z
+wget $SRC/models_eval.7z
+wget $SRC/models_obj.7z
+wget $SRC/models_obj_eval.7z
+
+7z x models.7z
+7z x models_eval.7z
+7z x models_obj.7z
+7z x models_obj_eval.7z
+
+# for grasp detection
+wget $SRC/grasp_label.7z
+wget $SRC/collision_label.7z
+wget $SRC/dex_models.7z
+wget $SRC/models_m.7z
+wget $SRC/models_obj_m.7z
+
+7z x grasp_label.7z
+7z x collision_label.7z
+7z x dex_models.7z
+7z x models_m.7z
+7z x models_obj_m.7z
+```
+
+### Dataset Toolkit Usage
+
+This dataset comes with a Python API and toolkit (`graspclutter6dAPI`) to facilitate loading, manipulating, and evaluating 6D grasp pose annotations.
+
+**Installation:**
+
+You can install the toolkit via pip:
+
+```bash
+pip install graspclutter6dAPI
+```
+
+Alternatively, install from source:
+
+```bash
+conda create -n gc6d python=3.8
+conda activate gc6d
+git clone https://github.com/SeungBack/graspclutter6dAPI.git
+cd graspclutter6dAPI
+pip install -e .
+```
+
+**Environment Setup:**
+
+Before running examples, set the `GC6D_ROOT` environment variable to your dataset location:
+
+```bash
+export GC6D_ROOT='/path/to/graspclutter6d'
+```
+
+**Usage Examples:**
+
+*   **Validate Dataset Integrity:**
+    ```bash
+    python examples/exam_check_data.py
+    ```
+*   **Load Grasp Annotations:**
+    ```bash
+    python examples/exam_loadGrasp.py
+    ```
+*   **Visualize Grasp Annotations:**
+    ```bash
+    python examples/exam_vis.py
+    ```

collision_label.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909780908bbb16f7a00baa70759e0d7fb107e81498917fd0e31232b01a7ea642
+size 963151254

dex_models.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16806c207158224de44ceae4543b639fa24541057896dd03574a9fa9db1c8fa6
+size 2651154234

grasp_label.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d181dc83abb4251ddf063ae484ff8e8a2e6a96c7d870d7010caa9ed8085cb97
+size 4281506533

models.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac45f13a79bb4a38362d2f91d2339cd93e7210847ead6a636f650ce2685fa72
+size 1227073338

models_eval.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a225a01ac5a7c4a87085d45ef96b495c7b105dd4906b7c45a2a09b204154a88
+size 86747378

models_m.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2eb63b2d444a1c619874b0fb117d5d9e67d04d1a6dc686fa3a7d8b8927d5da2
+size 1331586734

models_obj.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b513d3ee28f7dfe2c79e8469733feb8fba8aa43587cebd7e87b882c3d231637
+size 2760361431

models_obj_eval.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a846111fb302237696d7446cc87c82ba35c3985fbede76a83dfafb0eeecaacd
+size 163290970

models_obj_m.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4ebfb181f14ea3ef54b98c69d552b6018ec5e6a56dd6154ec2772f4eb96f92
+size 2755575887

scenes.7z.001

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09431d4d2206901806948974c7fc6ebc6973d79d5ff20b41bb99e6f599253a83
+size 48318382080

scenes.7z.002

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e704faacf77f7a1a8330cdca17c6896c88f9c2112d562e18793719c3670e2a
+size 48318382080

scenes.7z.003

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659f6d79c6705efdf3ea43d8f2b2a83b89f4e27072e4c22ac782563a6fdeff48
+size 48318382080

scenes.7z.004

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb013342e4f1b7726eae3e5cca9cbd5c6997de0be87349e98b5a255544b03cb7
+size 48318382080

scenes.7z.005

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f13d844981467a7569ef8abe873e3cd46dcca6c3c715615654c6a82aa79cd7f
+size 10097323420

split_info.7z

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014e2f63d5a4b698cf92731d5900457cd1a6607cd4449d40eeffbabf8e34c23d
+size 11878