Missing Grasping Pose?

[Phimos]

I would like to start by thanking you for providing the dataset on your GitHub repository. Your efforts in making this dataset available to the research community are highly appreciated.

However, upon reviewing the dataset, I noticed a discrepancy between the number of grasping poses reported in the paper and the number of grasping poses in the dataset. The paper states that there should be 1800 different objects (100 real, 1700 virtual), while the dataset contains 1801 meshes, but only 1668 objects have related grasping poses. I would like to check if it is expected.

Thank you for your attention to this matter.

[lixiny]

Hi, Yunchong! Thank you for your interest in our work.

Yes, there are indeed several objects included in the Oak Base that do not have interacting poses. This may be attributed to our manual screening process. We have removed several invalid transferred poses that did not fit properly.

Best wish,

Lixin