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.