IMPORTANT: This dataset consists of a single compressed "zarr" dataset file that embeds for convenience grasping pose, and the relative objects models and their properties (mass, inertial frame, ...). These models come from different sources with various LICENCES. You must read carrefully and abide to each LICENCE term before using the models.

Dataset is in data folder
qdgset library provides examples to interact with the dataset (visualization of objects, export to .obj and .urdf for loading from standard interface in simulator, ... )
webpage : https://qdgrasp.github.io/qdg_set/

Whole dataset coming soon ...

If you use our work please cite our paper :

@misc{huber2024qdgsetlargescalegrasping, title={QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity}, author={Johann Huber and François Hélénon and Mathilde Kappel and Ignacio de Loyola Páez-Ubieta and Santiago T. Puente and Pablo Gil and Faïz Ben Amar and Stéphane Doncieux}, year={2024}, eprint={2410.02319}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2410.02319}, }