| --- |
| license: mit |
| task_categories: |
| - robotics |
| - object-detection |
| language: |
| - en |
| tags: |
| - robotics |
| - grasping |
| - affordance |
| - hand-object-interaction |
| - contact-detection |
| - YCB |
| - DexYCB |
| - HO3D |
| - FoundationPose |
| - MANO |
| pretty_name: Affordance2Grasp Preprocessed Assets |
| size_categories: |
| - 1G<n<10G |
| --- |
| |
| # Affordance2Grasp — Preprocessed Assets |
|
|
| Preprocessed object meshes and initialization files for the |
| [Affordance2Grasp](https://github.com/stzabl-png/UCB_Project) pipeline. |
|
|
| This repository contains assets you download **once** before running the pipeline. |
| The pipeline then generates per-dataset intermediate data (depth maps, MANO estimates, |
| poses, contact labels) from the raw videos, which are not included here due to size and |
| licensing constraints. |
|
|
| --- |
|
|
| ## Contents |
|
|
| | Folder | Size | Description | |
| |---|---|---| |
| | `obj_meshes/ycb/` | ~1 GB | YCB object meshes + `scale.json` (metric scale) for all objects used in DexYCB and HO3D v3 | |
| | `obj_recon_input/ycb/` | ~50 MB | FoundationPose initialization masks (reference images + bounding boxes) for each YCB object | |
| | `training_fp/dexycb/` | ~1 MB | Validated contact labels for DexYCB `ycb_dex_01` and `ycb_dex_02` (sanity-check reference) | |
|
|
| --- |
|
|
| ## Usage |
|
|
| ```bash |
| pip install huggingface_hub |
| |
| python -c " |
| from huggingface_hub import snapshot_download |
| snapshot_download( |
| repo_id='StZaBL/Affordance2Grasp-ProcessedData', |
| repo_type='dataset', |
| local_dir='data_hub/ProcessedData', |
| ) |
| " |
| ``` |
|
|
| Then follow the pipeline in the |
| [main repository README](https://github.com/stzabl-png/UCB_Project). |
|
|
| --- |
|
|
| ## Supported Datasets |
|
|
| Both datasets use the same YCB objects — the meshes here cover all required objects. |
|
|
| | Dataset | Objects covered | |
| |---|---| |
| | **DexYCB** | 20 YCB objects (`ycb_dex_01` – `ycb_dex_20`) | |
| | **HO3D v3** | `003_cracker_box`, `004_sugar_box`, `006_mustard_bottle`, `010_potted_meat_can`, `011_banana`, `021_bleach_cleanser`, `035_power_drill`, `052_extra_large_clamp` | |
|
|
| --- |
|
|
| ## Raw Data |
|
|
| Raw videos must be downloaded separately from the official sources: |
|
|
| - **DexYCB**: https://dex-ycb.github.io |
| - **HO3D v3**: https://www.tugraz.at/institute/icg/research/team-lepetit/research-projects/hand-object-3d-pose-annotation |
|
|
| --- |
|
|
| ## Related |
|
|
| - **Code**: [stzabl-png/UCB_Project](https://github.com/stzabl-png/UCB_Project) |
| - **Pipeline**: Depth Pro → HaPTIC → FoundationPose → Contact Labels → Affordance Model → Robot Grasp |
|
|
