A dataset of thin-walled deformable objects
This is a dataset of thin-walled object models with volumetric representations, which is generated based on 13 real objects. To create more object models, we use a model generator which includes two types of variants:
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Geometric variants
- We use primitives to paramerize the object geometry. The object models are generated by varying the value of the geometric parameters within a realistic range.
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Structural variants
- We include structural parameters including:
- rim: A reinforcement structure on the top of the object.
- cap: A cap to close the top of the object. This represents a closed object.
- flat: Partially flat walls.
- dent: A dent on one side of the object.
- We include structural parameters including:
Two subsets are presented, which has different variants:
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ObjectModelsDemo
- Geometric variants: Not included. The geometry of the object models are generated based on the real objects.
- Structural variants: Included.
- In total: 30 obj files.
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ObjectModelsVariants
- Geometric variants: Included.
- Structural variants: Included.
- In total: 2214 obj files.
Each subset contains a file object_parameters.csv, which is the list of objects with geometric (unit mm) and structure parameters (rim, enclosed, dent, flat).
Details please refer to the paper: N. Alt, J. Xu, E. Steinbach, A dataset of thin-walled deformable objects for manipulation planning, Grasping and Manipulation Datasets (ICRA Workshop), Stockholm, Sweden, Mai 2016.
License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.