{
  "name": "graspnet",
  "num_classes": 40,
  "class_names": [
    "object_000",
    "object_002",
    "object_005",
    "object_007",
    "object_008",
    "object_009",
    "object_011",
    "object_014",
    "object_015",
    "object_017",
    "object_018",
    "object_020",
    "object_021",
    "object_022",
    "object_026",
    "object_027",
    "object_029",
    "object_030",
    "object_034",
    "object_036",
    "object_037",
    "object_038",
    "object_040",
    "object_041",
    "object_043",
    "object_044",
    "object_046",
    "object_048",
    "object_051",
    "object_052",
    "object_056",
    "object_057",
    "object_058",
    "object_060",
    "object_061",
    "object_062",
    "object_063",
    "object_066",
    "object_069",
    "object_070"
  ],
  "depth_scale": 1000,
  "ignore_index": 255,
  "splits": {
    "train": 2000,
    "test": 600
  },
  "license": "cc-by-nc-sa-4.0",
  "citation": "@inproceedings{fang2020graspnet, title={GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping}, author={Fang, Hao-Shu and Wang, Chenxi and Gou, Minghao and Lu, Cewu}, booktitle={CVPR}, year={2020}}"
}