• Cluttered Environment Generation
• Grasping Candidates Annotation

For dataset generation and simulation environment, refer to our previous work, Sim-Suction, which supports the generation of cluttered environments using Isaac Sim simulator.

Use the two_finger_sampling_angle_aug.py script to sample grasp candidates and check collisions.

Use the grasp_simulation.py script to perform dynamic evaluation.

Use code under Sim_GraspNet for model construction (Codes to be cleaned).

Use code under Sim_Grasp-policy for grasping policy (Codes to be cleaned).