RealArt-6

3DPoint cloudCreative Commons Attribution 4.0 International (CC BY 4.0)Introduced 2024-03-24

This is the official dataset collected for RPMArt to test the sim-to-real transfer. It contains 6 articulated object instances, each captured from 20 camera views under 5 states in scenarios with and without background, as well as presence or absence of distractors.

All data are collected by a wrist-mounted Intel RealSense L515 LiDAR camera on a 7-DOF Franka Emika robot arm. The details of collection process are presented in the paper .