UCBProject/

ProcessedData

Phase 1A outputs of the Affordance2Grasp pipeline — used by downstream phases:

Phase 2 (training the main method's PointNet++ contact-prediction net) reads training_fp/{dataset}/{object}.hdf5. Phase 3 (inference, grasp sampling, sim execution, Sim2Real deployment) reads per-object affordance priors from human_prior_fp/{object}.hdf5.

The upstream object meshes (SAM3D reconstructions) live in a sibling repo, UCBProject/ObjMesh.