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.

本数据集详述了茶杯末端执行器成功抓取的配置信息。每一行代表一种配置（位置与姿态）：x,y,z,q1,q2,q3,q4（其中q代表四元数）均以茶杯中心坐标系表示。茶杯图像可见于 mug.jpg。抓取可行性图可作为输入，用于估算空间抓取可能性密度，该密度函数代表从机器人末端执行器配置推断抓取成功概率的一种概率密度函数。