ReplicaGrasp dataset is created by spawning objects from GRAB into the ReplicaCAD scenes, simulated in random positions and orientations using the Habitat simulator. We capture 4,800 instances, with 50 different objects spawned in one of 48 receptacles in both, upright and randomly fallen orientations.
Source: FLEX: Full-Body Grasping Without Full-Body GraspsPapers
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