A question about your dataset

[xiaohythu]

In the folder of the dataset - ‘/grasp’， all the json files contain a object file of '.stl'. However, I cannot find such a format in ShapeNet dataset(for example, ShapeNetCore.v2). Could you tell how to download the .stl object model or to preprocess the .obj file?

[arsalan-mousavian]

Unfortunately, we cannot distribute shapenet meshes as usage is based on agreement each user need to obtain from shapenet maintainers. After you download the meshes, you need to follow the steps here to process the meshes: https://github.com/NVlabs/6dof-graspnet#prepare-shapenet-models after that you can use meshlabserver -i mesh.obj -i mesh.stl to convert the files to stl.