yianW/spray-drill-renders

Spray Bottle + Drill Grasps

Functional grasp renders + perception outputs for spray bottles and drills. Previously stored under yianW/mug-grasp-renders/spray_drill_renders/; split out for clarity.

Layout

• <object>_rot<zzz>/ — per-object-rotation case folders
  • Stage 1 renders: image.png, depth.npy, seg.npy, mask_object.npy, cam_pose.npy, intrinsic_K.npy, ...
  • grasp_prompts.json (cases with grasps)
  • grasp_00/..grasp_04/ — per-grasp perception outputs (image_grasp.png, hand pose, depth, masks, retarget_result.npz, sim_grasp_result.npz, debug visualizations)

Cases with full grasps (8)

drill_24d54c57_rot090, sprayer_16c4d5df_rot000, sprayer_2846f176_rot000, sprayer_63e3706a_rot000, sprayer_9f5b81fb_rot090, sprayer_e1fa6e29_rot000, sprayer_ea1abd6a_rot000, sprayer_fd260f2e_rot270