leizhang-public / ffh-cluttered-grasping

Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping

Project Page arXiv PDF

Example of FFHClutteredGrasping dataset

Grasping Candidates and Contact Distance Map.	Cluttered Scene
Blue: Candidate under Collision, Green: Positive Candidate, Red: Negative Candidate

Contact Semantic Map	Affordance Map

Visualize example dataset

visualize example scene with cluttered grasping data of multi-fingered robotic hand with following modalities:

• collision score
• grasping quality
• contact distance map
• contact semantic map
• affordance information

cd example_dataset
# visualize cluttered scene with grasp candidates, and corresponding collision score, grasp qualities, contact distance and semantic information
python visualize_scene.py

# visualize the affordance information
python visualize_affordance.py

P.S: In visualization, the model of robotic hand is a simplied version.