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Datasets:
StZaBL
/
Affordance2Grasp-ProcessedData

Tasks:
Robotics
Object Detection
Languages:
English
Tags:
robotics
grasping
affordance
hand-object-interaction
contact-detection
YCB
License:
Dataset card Files
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    ValueError
Message:      Dataset 'human_prior' has length 4096 but expected 3
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2690, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2227, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2251, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 80, in _generate_tables
                  num_rows = _check_dataset_lengths(h5, self.info.features)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 359, in _check_dataset_lengths
                  raise ValueError(f"Dataset '{path}' has length {dset.shape[0]} but expected {num_rows}")
              ValueError: Dataset 'human_prior' has length 4096 but expected 3

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Affordance2Grasp — Preprocessed Assets

Preprocessed object meshes and initialization files for the Affordance2Grasp 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 

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.

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:

Related

  • Code: stzabl-png/UCB_Project
  • Pipeline: Depth Pro → HaPTIC → FoundationPose → Contact Labels → Affordance Model → Robot Grasp
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