Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping
Grasping Candidates and Contact Distance Map. | Cluttered Scene |
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Blue: Candidate under Collision, Green: Positive Candidate, Red: Negative Candidate |
Contact Semantic Map | Affordance Map |
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visualize example scene with cluttered grasping data of multi-fingered robotic hand with following modalities:
- collision score
- grasping quality
- contact distance map
- contact semantic map
- affordance information
cd example_dataset
# visualize cluttered scene with grasp candidates, and corresponding collision score, grasp qualities, contact distance and semantic information
python visualize_scene.py
# visualize the affordance information
python visualize_affordance.py
P.S: In visualization, the model of robotic hand is a simplied version.