Graspability map for spatial grasp affordance estimation

The data describes endpoint configurations, of successful grasps of a mug. Each row is a configuration (position and orientation): x,y,z,q1,q2,q3,q4 (where q denotes a quaternion) in mug centered coordinates. The mug is depicted in mug.jpg. The graspability map can be used as input for estimating a spatial grasp affordence density, which is a probability density function that represents grasp success probability from the robot’s endpoint configurations.

该数据集描述了杯子成功抓取的末端执行器配置。每一行代表一个配置（位置与姿态）：在以杯子为中心的坐标系下，包含x、y、z（位置）及q1、q2、q3、q4（其中q表示四元数（quaternion））。杯子的图像见mug.jpg。可抓取性地图可用作输入，以估计空间抓取可及性密度——这是一种概率密度函数，能从机器人末端执行器配置中表征抓取成功的概率。