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.本数据集描述了成功抓取马克杯时的机器人末端执行器配置参数。每条数据对应一组位姿配置（包含位置与姿态）：在以马克杯为原点的坐标系下，参数为x、y、z以及四元数（quaternion）q1、q2、q3、q4（其中q代表四元数）。配套文件mug.jpg中展示了该马克杯的样式。该可抓取性映射图（graspability map）可作为输入，用于估算空间抓取可供性密度（spatial grasp affordance density）——这是一种表征基于机器人末端执行器位姿的抓取成功概率的概率密度函数。