This repository contains 3D meshes of objects of three categories:
- Drills
- Spray bottles
- Mugs
There are 39 meshes in total, 13 per category.
The dataset is particularly useful for research in a field of functional grasping and functional tool use, as each category has a distinct functional grasp required to use an object of that type.
All meshes are scaled to realistic sizes, specifically: to be functionally grasped by a 5-finger Schunk SIH hand.
Before modification, source meshes were obtained from:
Learning Postural Synergies for Categorical Grasping through Shape Space Registration