GraspFactory: A large object Centric Grasping Dataset

Explore GraspFactory, a dataset containing over 109 million 6-DoF grasps collectively for the Franka Panda (with 14,690 objects) and Robotiq 2F85 grippers (with 33,710 objects). GraspFactory is designed for training data-intensive models, and we demonstrate the generalization capabilities of one such model trained on a subset of GraspFactory in both simulated and real-world settings. The dataset and tools are made available for download at https://graspfactory.github.io/. #autodeskresearch #graspfactory #robotics