Towards safe human-to-robot handovers of unknown containers: pre-trained models and 3D hand keypoints annotations

This repository contains additional data to be used with the implementation of the real-to-simulation framework of the paper <em>Towards safe human-to-robot handovers of unknown containers</em>. The data include pre-trained models and annotations of the 3D hand poses for selected recordings from the public training and testing sets of CORSMAL Container Manipulation (CCM) dataset. The pre-trained models are used for classifying the filling type and filling level of a container. 3D hand poses are annotated as 21 keypoints based on the OpenPose format.