Datasets:
README: GraspNet example scene section and licence note
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README.md
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Selection, metadata and size table: Peize Li, 2026 (GraspNet-Infinite project). 5,074 objects, 20.5 GB zipped.
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Family counts: A_containers_kitchenware 580, B_bottles_cans_packaging 317, C_tools_utensils 211, D_toys_figurines_animals 1809, E_personal_office_household 1062, F_food 1058, G_hardware_parts 37.
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Selection, metadata and size table: Peize Li, 2026 (GraspNet-Infinite project). 5,074 objects, 20.5 GB zipped.
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Family counts: A_containers_kitchenware 580, B_bottles_cans_packaging 317, C_tools_utensils 211, D_toys_figurines_animals 1809, E_personal_office_household 1062, F_food 1058, G_hardware_parts 37.
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## GraspNet-1Billion example scene
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The folder `graspnet_example/` holds one complete GraspNet-1Billion scene (scene_0000, RealSense, all 256 views: RGB, depth,
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labels, per-view object poses, camera trajectory) with its 9 object meshes and `reconstruct_scene.py`, a standalone script that
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rebuilds the scene from the stored poses and checks it against the depth image. It is the reference layout for rendering
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multi-object scenes in the GraspNet style. **That folder is CC BY-NC-SA 4.0** (GraspNet team, MVIG, SJTU), not CC-BY; see its README.
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