CLARU
UCBProjectcc-by-4.0

DP3_OakInk_training_data

207 successful grasp and lift trajectories collected in IsaacSim 5.1 using cuRobo, sourced from OakInk hand-pose sequences retargeted onto a Franka 2-finger gripper. Designed as an add-on to DexYCB-sourced training data for Diffusion Policy 3D baseline_3 v4.

Downloads252

Technical Profile

Modalities
proprioceptionpoint_cloud
Robot Embodiments
Franka Panda
Environment
simulation
Task Types
graspingmanipulationpick_and_place
Data Format
HDF5
License
cc-by-4.0
Part of the DP3_OakInk_training_data family

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