The Grasp Reset Mechanism (GRM) is introduced as an automated apparatus for conducting large-scale grasping trials. It aims to bridge the gap between simulations and real-world tasks by automating the process of resetting a grasping environment, collecting data, and enabling object swapping without human intervention. The GRM includes a dataset of 1,020 grasps conducted with a Kinova Gen3 robot arm and Robotiq 2F-85 Adaptive Gripper across four objects. The mechanism design, software packages, and compatibility with various manipulators are highlighted. The GRM offers valuable assets to the robotics community by providing hardware for automated grasp trials, software packages for conducting trials, and a dataset of physical grasps on different objects.
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arxiv.org
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