DA$^2$

DA2 is a large-scale Dual-Arm Dexterity-Aware (DA2) grasp dataset, including a total of about 9M parallel-jaw grasp pairs for more than 6000 different meshes. The grasp pairs are labeled with multiple grasp dexterity measures by fully analyzing the grasp matrix. The dataset constitutes a standardized data source filling the gap in vision-guided dual-arm grasping of arbitrary objects.