├── README.md ├── data ├── grasps │ ├── obj_0_grasp_0.pickle │ ├── obj_0_grasp_1.pickle │ ├── obj_0_grasp_2.pickle │ ├── obj_0_grasp_3.pickle │ ├── obj_0_grasp_4.pickle │ ├── obj_10_grasp_-1.pickle │ ├── obj_10_grasp_0.pickle │ ├── obj_10_grasp_1.pickle │ ├── obj_10_grasp_2.pickle │ ├── obj_11_grasp_0.pickle │ ├── obj_11_grasp_1.pickle │ ├── obj_11_grasp_2.pickle │ ├── obj_11_grasp_3.pickle │ ├── obj_11_grasp_4.pickle │ ├── obj_12_grasp_0.pickle │ ├── obj_12_grasp_1.pickle │ ├── obj_12_grasp_2.pickle │ ├── obj_12_grasp_3.pickle │ ├── obj_13_grasp_0.pickle │ ├── obj_13_grasp_1.pickle │ ├── obj_13_grasp_2.pickle │ ├── obj_13_grasp_3.pickle │ ├── obj_13_grasp_4.pickle │ ├── obj_13_grasp_5.pickle │ ├── obj_14_grasp_0.pickle │ ├── obj_14_grasp_1.pickle │ ├── obj_14_grasp_2.pickle │ ├── obj_14_grasp_3.pickle │ ├── obj_15_grasp_0.pickle │ ├── obj_15_grasp_1.pickle │ ├── obj_15_grasp_2.pickle │ ├── obj_15_grasp_3.pickle │ ├── obj_15_grasp_4.pickle │ ├── obj_16_grasp_0.pickle │ ├── obj_16_grasp_1.pickle │ ├── obj_16_grasp_2.pickle │ ├── obj_16_grasp_3.pickle │ ├── obj_17_grasp_-1.pickle │ ├── obj_17_grasp_-2.pickle │ ├── obj_17_grasp_0.pickle │ ├── obj_17_grasp_1.pickle │ ├── obj_17_grasp_2.pickle │ ├── obj_18_grasp_0.pickle │ ├── obj_18_grasp_1.pickle │ ├── obj_18_grasp_2.pickle │ ├── obj_18_grasp_3.pickle │ ├── obj_18_grasp_4.pickle │ ├── obj_18_grasp_5.pickle │ ├── obj_18_grasp_6.pickle │ ├── obj_18_grasp_7.pickle │ ├── obj_18_grasp_8.pickle │ ├── obj_19_grasp_0.pickle │ ├── obj_19_grasp_1.pickle │ ├── obj_19_grasp_2.pickle │ ├── obj_19_grasp_3.pickle │ ├── obj_19_grasp_4.pickle │ ├── obj_1_grasp_0.pickle │ ├── obj_1_grasp_1.pickle │ ├── obj_1_grasp_2.pickle │ ├── obj_1_grasp_3.pickle │ ├── obj_1_grasp_4.pickle │ ├── obj_1_grasp_5.pickle │ ├── obj_20_grasp_0.pickle │ ├── obj_20_grasp_1.pickle │ ├── obj_20_grasp_2.pickle │ ├── obj_20_grasp_4.pickle │ ├── obj_20_grasp_5.pickle │ ├── obj_21_grasp_-1.pickle │ ├── obj_21_grasp_-2.pickle │ ├── obj_21_grasp_-3.pickle │ ├── obj_21_grasp_-4.pickle │ ├── obj_21_grasp_-5.pickle │ ├── obj_21_grasp_0.pickle │ ├── obj_21_grasp_1.pickle │ ├── obj_21_grasp_2.pickle │ ├── obj_21_grasp_3.pickle │ ├── obj_21_grasp_4.pickle │ ├── obj_21_grasp_5.pickle │ ├── obj_21_grasp_6.pickle │ ├── obj_21_grasp_7.pickle │ ├── obj_22_grasp_0.pickle │ ├── obj_22_grasp_1.pickle │ ├── obj_22_grasp_2.pickle │ ├── obj_22_grasp_3.pickle │ ├── obj_22_grasp_4.pickle │ ├── obj_23_grasp_0.pickle │ ├── obj_23_grasp_1.pickle │ ├── obj_23_grasp_2.pickle │ ├── obj_23_grasp_3.pickle │ ├── obj_23_grasp_4.pickle │ ├── obj_23_grasp_5.pickle │ ├── obj_23_grasp_6.pickle │ ├── obj_23_grasp_7.pickle │ ├── obj_24_grasp_0.pickle │ ├── obj_24_grasp_1.pickle │ ├── obj_25_grasp_0.pickle │ ├── obj_25_grasp_1.pickle │ ├── obj_25_grasp_2.pickle │ ├── obj_25_grasp_3.pickle │ ├── obj_26_grasp_0.pickle │ ├── obj_26_grasp_1.pickle │ ├── obj_26_grasp_2.pickle │ ├── obj_26_grasp_3.pickle │ ├── obj_26_grasp_4.pickle │ ├── obj_27_grasp_-1.pickle │ ├── obj_27_grasp_-2.pickle │ ├── obj_27_grasp_0.pickle │ ├── obj_27_grasp_1.pickle │ ├── obj_28_grasp_0.pickle │ ├── obj_28_grasp_1.pickle │ ├── obj_28_grasp_2.pickle │ ├── obj_28_grasp_3.pickle │ ├── obj_29_grasp_0.pickle │ ├── obj_29_grasp_1.pickle │ ├── obj_29_grasp_2.pickle │ ├── obj_29_grasp_3.pickle │ ├── obj_29_grasp_4.pickle │ ├── obj_2_grasp_0.pickle │ ├── obj_2_grasp_1.pickle │ ├── obj_2_grasp_2.pickle │ ├── obj_2_grasp_3.pickle │ ├── obj_2_grasp_4.pickle │ ├── obj_2_grasp_5.pickle │ ├── obj_2_grasp_6.pickle │ ├── obj_2_grasp_7.pickle │ ├── obj_2_grasp_8.pickle │ ├── obj_30_grasp_0.pickle │ ├── obj_30_grasp_1.pickle │ ├── obj_30_grasp_2.pickle │ ├── obj_30_grasp_3.pickle │ ├── obj_30_grasp_4.pickle │ ├── obj_30_grasp_5.pickle │ ├── obj_30_grasp_6.pickle │ ├── obj_30_grasp_7.pickle │ ├── obj_31_grasp_0.pickle │ ├── obj_31_grasp_1.pickle │ ├── obj_31_grasp_2.pickle │ ├── obj_31_grasp_3.pickle │ ├── obj_31_grasp_4.pickle │ ├── obj_32_grasp_0.pickle │ ├── obj_32_grasp_1.pickle │ ├── obj_32_grasp_2.pickle │ ├── obj_32_grasp_3.pickle │ ├── obj_32_grasp_4.pickle │ ├── obj_32_grasp_5.pickle │ ├── obj_32_grasp_6.pickle │ ├── obj_32_grasp_7.pickle │ ├── obj_32_grasp_8.pickle │ ├── obj_33_grasp_0.pickle │ ├── obj_33_grasp_1.pickle │ ├── obj_33_grasp_2.pickle │ ├── obj_33_grasp_3.pickle │ ├── obj_33_grasp_4.pickle │ ├── obj_34_grasp_-1.pickle │ ├── obj_34_grasp_-2.pickle │ ├── obj_34_grasp_-3.pickle │ ├── obj_34_grasp_-4.pickle │ ├── obj_34_grasp_-5.pickle │ ├── obj_34_grasp_0.pickle │ ├── obj_34_grasp_1.pickle │ ├── obj_34_grasp_2.pickle │ ├── obj_34_grasp_3.pickle │ ├── obj_34_grasp_5.pickle │ ├── obj_34_grasp_6.pickle │ ├── obj_34_grasp_7.pickle │ ├── obj_34_grasp_8.pickle │ ├── obj_35_grasp_0.pickle │ ├── obj_35_grasp_1.pickle │ ├── obj_35_grasp_2.pickle │ ├── obj_35_grasp_3.pickle │ ├── obj_35_grasp_4.pickle │ ├── obj_36_grasp_0.pickle │ ├── obj_36_grasp_1.pickle │ ├── obj_36_grasp_2.pickle │ ├── obj_36_grasp_3.pickle │ ├── obj_36_grasp_4.pickle │ ├── obj_37_grasp_-1.pickle │ ├── obj_37_grasp_0.pickle │ ├── obj_37_grasp_1.pickle │ ├── obj_37_grasp_2.pickle │ ├── obj_37_grasp_3.pickle │ ├── obj_37_grasp_4.pickle │ ├── obj_38_grasp_0.pickle │ ├── obj_38_grasp_1.pickle │ ├── obj_38_grasp_2.pickle │ ├── obj_38_grasp_3.pickle │ ├── obj_39_grasp_0.pickle │ ├── obj_39_grasp_1.pickle │ ├── obj_39_grasp_2.pickle │ ├── obj_39_grasp_3.pickle │ ├── obj_39_grasp_4.pickle │ ├── obj_39_grasp_5.pickle │ ├── obj_39_grasp_6.pickle │ ├── obj_3_grasp_0.pickle │ ├── obj_3_grasp_1.pickle │ ├── obj_3_grasp_2.pickle │ ├── obj_3_grasp_3.pickle │ ├── obj_3_grasp_4.pickle │ ├── obj_3_grasp_5.pickle │ ├── obj_3_grasp_6.pickle │ ├── obj_3_grasp_7.pickle │ ├── obj_3_grasp_8.pickle │ ├── obj_40_grasp_0.pickle │ ├── obj_40_grasp_1.pickle │ ├── obj_40_grasp_2.pickle │ ├── obj_40_grasp_3.pickle │ ├── obj_40_grasp_4.pickle │ ├── obj_40_grasp_5.pickle │ ├── obj_40_grasp_6.pickle │ ├── obj_41_grasp_-1.pickle │ ├── obj_41_grasp_-2.pickle │ ├── obj_41_grasp_-3.pickle │ ├── obj_41_grasp_-4.pickle │ ├── obj_41_grasp_-5.pickle │ ├── obj_41_grasp_-6.pickle │ ├── obj_41_grasp_-7.pickle │ ├── obj_41_grasp_0.pickle │ ├── obj_41_grasp_1.pickle │ ├── obj_41_grasp_2.pickle │ ├── obj_41_grasp_3.pickle │ ├── obj_41_grasp_4.pickle │ ├── obj_42_grasp_0.pickle │ ├── obj_42_grasp_1.pickle │ ├── obj_42_grasp_2.pickle │ ├── obj_42_grasp_3.pickle │ ├── obj_43_grasp_0.pickle │ ├── obj_43_grasp_1.pickle │ ├── obj_43_grasp_2.pickle │ ├── obj_43_grasp_3.pickle │ ├── obj_44_grasp_0.pickle │ ├── obj_44_grasp_1.pickle │ ├── obj_44_grasp_2.pickle │ ├── obj_44_grasp_3.pickle │ ├── obj_45_grasp_0.pickle │ ├── obj_45_grasp_1.pickle │ ├── obj_45_grasp_2.pickle │ ├── obj_45_grasp_3.pickle │ ├── obj_46_grasp_0.pickle │ ├── obj_46_grasp_1.pickle │ ├── obj_46_grasp_2.pickle │ ├── obj_46_grasp_3.pickle │ ├── obj_46_grasp_4.pickle │ ├── obj_47_grasp_0.pickle │ ├── obj_47_grasp_1.pickle │ ├── obj_47_grasp_2.pickle │ ├── obj_47_grasp_3.pickle │ ├── obj_47_grasp_4.pickle │ ├── obj_48_grasp_0.pickle │ ├── obj_48_grasp_1.pickle │ ├── obj_49_grasp_0.pickle │ ├── obj_49_grasp_1.pickle │ ├── obj_49_grasp_10.pickle │ ├── obj_49_grasp_11.pickle │ ├── obj_49_grasp_12.pickle │ ├── obj_49_grasp_13.pickle │ ├── obj_49_grasp_2.pickle │ ├── obj_49_grasp_3.pickle │ ├── obj_49_grasp_4.pickle │ ├── obj_49_grasp_5.pickle │ ├── obj_49_grasp_6.pickle │ ├── obj_49_grasp_7.pickle │ ├── obj_49_grasp_8.pickle │ ├── obj_49_grasp_9.pickle │ ├── obj_4_grasp_0.pickle │ ├── obj_4_grasp_1.pickle │ ├── obj_4_grasp_10.pickle │ ├── obj_4_grasp_11.pickle │ ├── obj_4_grasp_12.pickle │ ├── obj_4_grasp_2.pickle │ ├── obj_4_grasp_4.pickle │ ├── obj_4_grasp_5.pickle │ ├── obj_4_grasp_6.pickle │ ├── obj_4_grasp_7.pickle │ ├── obj_4_grasp_8.pickle │ ├── obj_4_grasp_9.pickle │ ├── obj_50_grasp_0.pickle │ ├── obj_50_grasp_1.pickle │ ├── obj_50_grasp_2.pickle │ ├── obj_51_grasp_0.pickle │ ├── obj_51_grasp_1.pickle │ ├── obj_51_grasp_2.pickle │ ├── obj_51_grasp_3.pickle │ ├── obj_51_grasp_4.pickle │ ├── obj_52_grasp_0.pickle │ ├── obj_52_grasp_1.pickle │ ├── obj_52_grasp_2.pickle │ ├── obj_52_grasp_3.pickle │ ├── obj_52_grasp_4.pickle │ ├── obj_52_grasp_5.pickle │ ├── obj_53_grasp_0.pickle │ ├── obj_53_grasp_1.pickle │ ├── obj_53_grasp_2.pickle │ ├── obj_53_grasp_3.pickle │ ├── obj_54_grasp_0.pickle │ ├── obj_54_grasp_1.pickle │ ├── obj_54_grasp_2.pickle │ ├── obj_54_grasp_3.pickle │ ├── obj_54_grasp_4.pickle │ ├── obj_55_grasp_0.pickle │ ├── obj_55_grasp_1.pickle │ ├── obj_55_grasp_2.pickle │ ├── obj_56_grasp_0.pickle │ ├── obj_56_grasp_1.pickle │ ├── obj_56_grasp_2.pickle │ ├── obj_56_grasp_3.pickle │ ├── obj_56_grasp_4.pickle │ ├── obj_56_grasp_5.pickle │ ├── obj_56_grasp_6.pickle │ ├── obj_56_grasp_7.pickle │ ├── obj_56_grasp_8.pickle │ ├── obj_57_grasp_0.pickle │ ├── obj_57_grasp_1.pickle │ ├── obj_57_grasp_2.pickle │ ├── obj_57_grasp_3.pickle │ ├── obj_57_grasp_4.pickle │ ├── obj_5_grasp_0.pickle │ ├── obj_5_grasp_1.pickle │ ├── obj_5_grasp_2.pickle │ ├── obj_5_grasp_3.pickle │ ├── obj_5_grasp_4.pickle │ ├── obj_5_grasp_5.pickle │ ├── obj_5_grasp_6.pickle │ ├── obj_5_grasp_7.pickle │ ├── obj_6_grasp_0.pickle │ ├── obj_6_grasp_1.pickle │ ├── obj_6_grasp_2.pickle │ ├── obj_6_grasp_3.pickle │ ├── obj_6_grasp_4.pickle │ ├── obj_6_grasp_5.pickle │ ├── obj_6_grasp_6.pickle │ ├── obj_6_grasp_7.pickle │ ├── obj_7_grasp_0.pickle │ ├── obj_7_grasp_1.pickle │ ├── obj_7_grasp_10.pickle │ ├── obj_7_grasp_11.pickle │ ├── obj_7_grasp_2.pickle │ ├── obj_7_grasp_3.pickle │ ├── obj_7_grasp_4.pickle │ ├── obj_7_grasp_5.pickle │ ├── obj_7_grasp_6.pickle │ ├── obj_7_grasp_7.pickle │ ├── obj_7_grasp_8.pickle │ ├── obj_7_grasp_9.pickle │ ├── obj_8_grasp_0.pickle │ ├── obj_8_grasp_1.pickle │ ├── obj_8_grasp_2.pickle │ ├── obj_8_grasp_3.pickle │ ├── obj_8_grasp_4.pickle │ ├── obj_8_grasp_5.pickle │ ├── obj_8_grasp_6.pickle │ ├── obj_8_grasp_7.pickle │ ├── obj_8_grasp_8.pickle │ ├── obj_8_grasp_9.pickle │ ├── obj_9_grasp_-1.pickle │ ├── obj_9_grasp_-2.pickle │ ├── obj_9_grasp_-3.pickle │ ├── obj_9_grasp_-4.pickle │ ├── obj_9_grasp_0.pickle │ ├── obj_9_grasp_1.pickle │ ├── obj_9_grasp_2.pickle │ ├── obj_9_grasp_3.pickle │ ├── obj_9_grasp_4.pickle │ ├── obj_9_grasp_5.pickle │ ├── obj_9_grasp_6.pickle │ ├── obj_9_grasp_7.pickle │ ├── obj_9_grasp_8.pickle │ └── obj_9_grasp_9.pickle ├── imgnames.npy ├── objects_in_YCB.npy ├── offsets.npy └── plane_equations.npy ├── grasp_taxonomy ├── average_hand_pose_taxonomy.npy └── object_taxonomies.npy ├── images └── ycb_affordance_dataset.png ├── requirements.txt ├── utils.py ├── visualize_YCB_Affordance.py └── visualize_grasps.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/enriccorona/YCB_Affordance/HEAD/README.md -------------------------------------------------------------------------------- /data/grasps/obj_0_grasp_0.pickle: -------------------------------------------------------------------------------- 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