LfED-6D

The LfED-6D dataset is a collection of 6D grasp annotations acquired through experience (with a robot platform) or by human demonstration. For known objects, the annotated grasps can be directly applied given the pose of the object model is correctly computed. For unknown objects, the grasps can be generalized using methods for shape matching, for example the Dense Geometrical Correspondence Network.

Source: LfED-6D