Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
xinjjj commited on
Commit
304cbeb
·
verified ·
1 Parent(s): 5f64ec8

Add asset bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/affordance_annot.json +1023 -0
  3. dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.urdf +1 -0
.gitattributes CHANGED
@@ -6078,3 +6078,4 @@ dataset/bedroom_supplies/storage/ee1679c2dac75fc8871d0e640e06e759/affordance/mes
6078
  dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6079
  dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6080
  dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6078
  dataset/bedroom_supplies/storage/f219e36f78dd54c79f9953660fcb5c02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6079
  dataset/bedroom_supplies/storage/f3011ec550bb59f5af91dc1ba6b11a26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6080
  dataset/bedroom_supplies/storage/f2568c62ad0c563b8398e64b6a5ebf0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6081
+ dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1023 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "container body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side walls to pick up and carry the small storage container",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize it while opening or closing the lid",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "grasp the body while placing the container onto a surface",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain small items",
23
+ "provide main structure",
24
+ "support the lid",
25
+ "provide main grasp surface",
26
+ "stabilize contents"
27
+ ],
28
+ "semantic_description": "Large boxy translucent clear to frosted plastic body with smooth glossy surfaces, slightly tapered side walls, and faint printed text visible on one face in some views.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_40": {
32
+ "confidence": 0.8051882386207581,
33
+ "position": [
34
+ 0.11757281905738637,
35
+ -0.0024708437267690897,
36
+ -0.002575712278485298
37
+ ],
38
+ "orientation": {
39
+ "w": 0.49794089849979256,
40
+ "xyz": [
41
+ -0.5102808976161535,
42
+ -0.5191648370882194,
43
+ 0.4713132069658504
44
+ ]
45
+ }
46
+ },
47
+ "grasp_41": {
48
+ "confidence": 0.8020955324172974,
49
+ "position": [
50
+ 0.11519361025420949,
51
+ -0.001463608889025636,
52
+ -0.0007118578068912029
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4885540637666902,
56
+ "xyz": [
57
+ -0.5147940272663312,
58
+ -0.524382085087508,
59
+ 0.47045240472043676
60
+ ]
61
+ }
62
+ },
63
+ "grasp_42": {
64
+ "confidence": 0.7905274629592896,
65
+ "position": [
66
+ 0.11686742043821141,
67
+ -0.003388217417523265,
68
+ 0.006395347416400909
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5017592298089291,
72
+ "xyz": [
73
+ -0.5060785217316195,
74
+ -0.5040322292752026,
75
+ 0.48792798341083005
76
+ ]
77
+ }
78
+ },
79
+ "grasp_43": {
80
+ "confidence": 0.7854591608047485,
81
+ "position": [
82
+ 0.11394693440524861,
83
+ -0.010223894147202373,
84
+ 0.008070880081504583
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5032062876715905,
88
+ "xyz": [
89
+ -0.5219913443357598,
90
+ -0.5138767094171642,
91
+ 0.4585184794584729
92
+ ]
93
+ }
94
+ },
95
+ "grasp_44": {
96
+ "confidence": 0.7840253710746765,
97
+ "position": [
98
+ 0.11471907532541081,
99
+ -0.005276841344311833,
100
+ 0.022950843907892704
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4467265579163921,
104
+ "xyz": [
105
+ -0.5577085453056011,
106
+ -0.5505131269293462,
107
+ 0.4316617402825458
108
+ ]
109
+ }
110
+ },
111
+ "grasp_45": {
112
+ "confidence": 0.7821171283721924,
113
+ "position": [
114
+ -0.11401105188997462,
115
+ 0.0014579235576093197,
116
+ 0.0011542061110958457
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5023758361248971,
120
+ "xyz": [
121
+ 0.4990097927269857,
122
+ 0.499295933342888,
123
+ 0.49931084204895393
124
+ ]
125
+ }
126
+ },
127
+ "grasp_46": {
128
+ "confidence": 0.778078556060791,
129
+ "position": [
130
+ 0.11815418786136433,
131
+ -0.0006055381963960826,
132
+ 0.002750399289652705
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5062340301371396,
136
+ "xyz": [
137
+ -0.4987129407220041,
138
+ -0.5028072601458895,
139
+ 0.49213551856384435
140
+ ]
141
+ }
142
+ },
143
+ "grasp_47": {
144
+ "confidence": 0.7775761485099792,
145
+ "position": [
146
+ 0.1137868512305431,
147
+ 0.0013431645929813385,
148
+ 0.009556667879223824
149
+ ],
150
+ "orientation": {
151
+ "w": 0.4901947707035816,
152
+ "xyz": [
153
+ 0.5057876820242765,
154
+ -0.5014111405159273,
155
+ -0.5024686812666931
156
+ ]
157
+ }
158
+ },
159
+ "grasp_48": {
160
+ "confidence": 0.7771999835968018,
161
+ "position": [
162
+ 0.11557882762281224,
163
+ -0.003795196767896414,
164
+ 0.011457297950983047
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5286281552815453,
168
+ "xyz": [
169
+ -0.4669186380393078,
170
+ -0.4965139700434661,
171
+ 0.5059774070517611
172
+ ]
173
+ }
174
+ },
175
+ "grasp_49": {
176
+ "confidence": 0.77639240026474,
177
+ "position": [
178
+ -0.11154033505590633,
179
+ 0.005045398836955428,
180
+ 0.007663397118449211
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4933056474488457,
184
+ "xyz": [
185
+ -0.48409362279331136,
186
+ 0.5074444293765621,
187
+ -0.5145901802994469
188
+ ]
189
+ }
190
+ },
191
+ "grasp_50": {
192
+ "confidence": 0.7761222124099731,
193
+ "position": [
194
+ -0.11371982359560207,
195
+ 0.0025555682368576527,
196
+ 0.023615560494363308
197
+ ],
198
+ "orientation": {
199
+ "w": 0.4424942746796261,
200
+ "xyz": [
201
+ -0.5444484388282795,
202
+ 0.5600047014118616,
203
+ -0.44064662568753715
204
+ ]
205
+ }
206
+ },
207
+ "grasp_51": {
208
+ "confidence": 0.7759257555007935,
209
+ "position": [
210
+ 0.11362291610566899,
211
+ -0.003919336013495922,
212
+ 0.00517966877669096
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4960327541856572,
216
+ "xyz": [
217
+ -0.5016667582198251,
218
+ -0.5144009791052465,
219
+ 0.4875177977959023
220
+ ]
221
+ }
222
+ },
223
+ "grasp_52": {
224
+ "confidence": 0.7748650312423706,
225
+ "position": [
226
+ 0.11530954873887822,
227
+ 0.0025063729844987392,
228
+ 0.017330927774310112
229
+ ],
230
+ "orientation": {
231
+ "w": 0.49708615976042814,
232
+ "xyz": [
233
+ -0.5087730733939125,
234
+ -0.5069241387566732,
235
+ 0.48691192952088086
236
+ ]
237
+ }
238
+ },
239
+ "grasp_53": {
240
+ "confidence": 0.774812638759613,
241
+ "position": [
242
+ 0.11690864450065419,
243
+ 0.0007525847759097815,
244
+ 0.004670419031754136
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5253061332167412,
248
+ "xyz": [
249
+ 0.4733935014744201,
250
+ -0.48998827242896126,
251
+ -0.5097681355761128
252
+ ]
253
+ }
254
+ },
255
+ "grasp_54": {
256
+ "confidence": 0.773847758769989,
257
+ "position": [
258
+ 0.11709352320758626,
259
+ -0.0027355861384421587,
260
+ -0.006040257401764393
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4852040432175241,
264
+ "xyz": [
265
+ 0.5046470116003496,
266
+ -0.523695099239043,
267
+ -0.4854398759488274
268
+ ]
269
+ }
270
+ },
271
+ "grasp_55": {
272
+ "confidence": 0.7732459902763367,
273
+ "position": [
274
+ -0.11284303927095607,
275
+ 0.004297927720472217,
276
+ -0.0008218828588724136
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4983101911338086,
280
+ "xyz": [
281
+ -0.49152542245613406,
282
+ 0.4986399429586731,
283
+ -0.511319782306217
284
+ ]
285
+ }
286
+ },
287
+ "grasp_56": {
288
+ "confidence": 0.7720373272895813,
289
+ "position": [
290
+ 0.11378146446077153,
291
+ 0.0009323966223746538,
292
+ 0.0005485835717990994
293
+ ],
294
+ "orientation": {
295
+ "w": 0.49425082035918055,
296
+ "xyz": [
297
+ -0.49354201426177263,
298
+ -0.5245091071120304,
299
+ 0.48684967216713804
300
+ ]
301
+ }
302
+ },
303
+ "grasp_57": {
304
+ "confidence": 0.7716835141181946,
305
+ "position": [
306
+ 0.1217529300483875,
307
+ -0.0033538814168423414,
308
+ -0.016823538579046726
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5060837992963717,
312
+ "xyz": [
313
+ -0.49848469638127596,
314
+ -0.5042676100074327,
315
+ 0.4910258374676518
316
+ ]
317
+ }
318
+ },
319
+ "grasp_58": {
320
+ "confidence": 0.7707363367080688,
321
+ "position": [
322
+ 0.11712098604766652,
323
+ 0.0011903634294867516,
324
+ 0.024567452259361744
325
+ ],
326
+ "orientation": {
327
+ "w": 0.46897703496135823,
328
+ "xyz": [
329
+ -0.5353860252777232,
330
+ -0.5257077700783467,
331
+ 0.4658902071254835
332
+ ]
333
+ }
334
+ },
335
+ "grasp_59": {
336
+ "confidence": 0.7707332372665405,
337
+ "position": [
338
+ 0.12331995106069371,
339
+ -0.004627031972631812,
340
+ -0.010868871584534645
341
+ ],
342
+ "orientation": {
343
+ "w": 0.4940618141475361,
344
+ "xyz": [
345
+ -0.5145000821080669,
346
+ -0.5083997846120766,
347
+ 0.48241294377165295
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "lid panel",
355
+ "mask_color": "Blue",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the top lid to lift or reposition the closed container",
360
+ "confidence": 0.56
361
+ },
362
+ {
363
+ "scenario": "pinch the lid edge to begin opening the container",
364
+ "confidence": 0.61
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "cover the container",
369
+ "protect contents",
370
+ "provide top closure surface",
371
+ "help close the container"
372
+ ],
373
+ "semantic_description": "Flat translucent smoky gray plastic top panel with a glossy smooth finish, broad rectangular shape, and rounded corners at the top of the container.",
374
+ "id": 2,
375
+ "grasp_group": {
376
+ "grasp_0": {
377
+ "confidence": 0.43969443440437317,
378
+ "position": [
379
+ 0.11384471989003941,
380
+ -0.004490293562412262,
381
+ 0.009442182257771492
382
+ ],
383
+ "orientation": {
384
+ "w": 0.03496013470362375,
385
+ "xyz": [
386
+ -0.7100619557707151,
387
+ 0.04250457777491867,
388
+ 0.7019851628180949
389
+ ]
390
+ }
391
+ },
392
+ "grasp_9": {
393
+ "confidence": 0.1797977238893509,
394
+ "position": [
395
+ 0.004243973584380001,
396
+ 0.1115383303258568,
397
+ 0.015385832637548447
398
+ ],
399
+ "orientation": {
400
+ "w": 0.5005459974126517,
401
+ "xyz": [
402
+ 0.5315919007829025,
403
+ 0.4880128390040155,
404
+ -0.4782334413896998
405
+ ]
406
+ }
407
+ }
408
+ }
409
+ },
410
+ {
411
+ "part_name": "lid rim",
412
+ "mask_color": "Purple",
413
+ "graspable": true,
414
+ "grasp_scenarios": [
415
+ {
416
+ "scenario": "pinch the rim to pry or lift the lid open",
417
+ "confidence": 0.74
418
+ },
419
+ {
420
+ "scenario": "grasp the rim to steady the lid during closing",
421
+ "confidence": 0.69
422
+ }
423
+ ],
424
+ "functional_labels": [
425
+ "frame the lid",
426
+ "provide lid edge grip",
427
+ "help align closure",
428
+ "support opening and closing"
429
+ ],
430
+ "semantic_description": "Raised translucent clear plastic rim with a glossy smooth finish running around the lid perimeter, forming a rounded rectangular edge above the body.",
431
+ "id": 5,
432
+ "grasp_group": {
433
+ "grasp_60": {
434
+ "confidence": 0.6504935026168823,
435
+ "position": [
436
+ 0.11028828209964558,
437
+ -0.002857111510820687,
438
+ 0.08961803745478392
439
+ ],
440
+ "orientation": {
441
+ "w": 0.35145741872361114,
442
+ "xyz": [
443
+ 0.6019468846180953,
444
+ -0.6196000595588621,
445
+ -0.360878645970304
446
+ ]
447
+ }
448
+ },
449
+ "grasp_61": {
450
+ "confidence": 0.3937610983848572,
451
+ "position": [
452
+ 0.0036373251932673156,
453
+ 0.1057305654976517,
454
+ 0.08602125477045774
455
+ ],
456
+ "orientation": {
457
+ "w": 0.5192758923073676,
458
+ "xyz": [
459
+ 0.8544696284642247,
460
+ 0.00715398544161705,
461
+ 0.013528569506712792
462
+ ]
463
+ }
464
+ },
465
+ "grasp_65": {
466
+ "confidence": 0.6201510429382324,
467
+ "position": [
468
+ 0.0971976417931728,
469
+ 0.00045886740554124117,
470
+ 0.09417005907744169
471
+ ],
472
+ "orientation": {
473
+ "w": 0.3451511487105719,
474
+ "xyz": [
475
+ -0.6261832856144679,
476
+ -0.6147262255537562,
477
+ 0.3329817487149637
478
+ ]
479
+ }
480
+ },
481
+ "grasp_66": {
482
+ "confidence": 0.6195430159568787,
483
+ "position": [
484
+ 0.10112453735200688,
485
+ -0.003897885326296091,
486
+ 0.0901422007009387
487
+ ],
488
+ "orientation": {
489
+ "w": 0.34542728846512644,
490
+ "xyz": [
491
+ 0.6068385649728503,
492
+ -0.6187046720190612,
493
+ -0.3600437102173966
494
+ ]
495
+ }
496
+ },
497
+ "grasp_67": {
498
+ "confidence": 0.5581524968147278,
499
+ "position": [
500
+ 0.008990899834316224,
501
+ -0.1041908913757652,
502
+ 0.08862533699721098
503
+ ],
504
+ "orientation": {
505
+ "w": 0.0005746641825386924,
506
+ "xyz": [
507
+ -0.0008549079057511899,
508
+ -0.8630592634250891,
509
+ -0.5051016201812198
510
+ ]
511
+ }
512
+ },
513
+ "grasp_68": {
514
+ "confidence": 0.4979526400566101,
515
+ "position": [
516
+ 0.0022378512076102197,
517
+ 0.10511967004276812,
518
+ 0.08807744365185499
519
+ ],
520
+ "orientation": {
521
+ "w": 0.001058296250696218,
522
+ "xyz": [
523
+ -0.004501119004104102,
524
+ -0.8603751554373711,
525
+ 0.5096402769040886
526
+ ]
527
+ }
528
+ },
529
+ "grasp_69": {
530
+ "confidence": 0.49302729964256287,
531
+ "position": [
532
+ -0.11372098588617519,
533
+ 0.008822613628581166,
534
+ 0.08922137599438429
535
+ ],
536
+ "orientation": {
537
+ "w": 0.35146372612519167,
538
+ "xyz": [
539
+ 0.6126551349902585,
540
+ 0.6112919138944474,
541
+ 0.3570001831869671
542
+ ]
543
+ }
544
+ },
545
+ "grasp_70": {
546
+ "confidence": 0.6553166508674622,
547
+ "position": [
548
+ 0.10507672018138692,
549
+ 0.0024976616259664297,
550
+ 0.09176694881170988
551
+ ],
552
+ "orientation": {
553
+ "w": 0.3443652358158281,
554
+ "xyz": [
555
+ 0.6134451711152259,
556
+ -0.6222696572758202,
557
+ -0.34333377350728805
558
+ ]
559
+ }
560
+ },
561
+ "grasp_71": {
562
+ "confidence": 0.6369536519050598,
563
+ "position": [
564
+ 0.09909430629340932,
565
+ -0.0026254612021148205,
566
+ 0.09789394121617079
567
+ ],
568
+ "orientation": {
569
+ "w": 0.32344064568978315,
570
+ "xyz": [
571
+ 0.6259452694534462,
572
+ -0.6335071126083143,
573
+ -0.3197614839834618
574
+ ]
575
+ }
576
+ },
577
+ "grasp_72": {
578
+ "confidence": 0.6178746223449707,
579
+ "position": [
580
+ 0.09488811081973836,
581
+ -0.006366020301356912,
582
+ 0.09245273750275373
583
+ ],
584
+ "orientation": {
585
+ "w": 0.3525196600897881,
586
+ "xyz": [
587
+ -0.62602890481825,
588
+ -0.6134604182069928,
589
+ 0.32784754822256035
590
+ ]
591
+ }
592
+ },
593
+ "grasp_73": {
594
+ "confidence": 0.5793282389640808,
595
+ "position": [
596
+ -0.13177251332672313,
597
+ 0.006048692157492042,
598
+ 0.039927094243466854
599
+ ],
600
+ "orientation": {
601
+ "w": 0.500319120643775,
602
+ "xyz": [
603
+ 0.5125949142645011,
604
+ 0.4977761809448138,
605
+ 0.4890256691344583
606
+ ]
607
+ }
608
+ },
609
+ "grasp_74": {
610
+ "confidence": 0.5288498401641846,
611
+ "position": [
612
+ -0.10704957210691646,
613
+ 0.001271004555746913,
614
+ 0.08980229031294584
615
+ ],
616
+ "orientation": {
617
+ "w": 0.3542734972311288,
618
+ "xyz": [
619
+ 0.6106497577092166,
620
+ 0.6097877062355421,
621
+ 0.3602167623713477
622
+ ]
623
+ }
624
+ },
625
+ "grasp_75": {
626
+ "confidence": 0.5275747776031494,
627
+ "position": [
628
+ -0.10228257143171504,
629
+ 0.005567770218476653,
630
+ 0.09932143520563841
631
+ ],
632
+ "orientation": {
633
+ "w": 0.33054650324373835,
634
+ "xyz": [
635
+ 0.6245171507186553,
636
+ 0.6307665360113497,
637
+ 0.32070378030174845
638
+ ]
639
+ }
640
+ },
641
+ "grasp_76": {
642
+ "confidence": 0.5165565609931946,
643
+ "position": [
644
+ 0.006127332511823624,
645
+ -0.13151293038390577,
646
+ 0.044137406162917614
647
+ ],
648
+ "orientation": {
649
+ "w": 0.019387181364711185,
650
+ "xyz": [
651
+ -0.015405464364082041,
652
+ -0.7268073250003889,
653
+ -0.6863948726441931
654
+ ]
655
+ }
656
+ },
657
+ "grasp_77": {
658
+ "confidence": 0.5046021938323975,
659
+ "position": [
660
+ -0.10792621487053111,
661
+ 0.0005529086338356137,
662
+ 0.08693480025976896
663
+ ],
664
+ "orientation": {
665
+ "w": 0.3585084286054834,
666
+ "xyz": [
667
+ -0.6045663318826384,
668
+ 0.6120938949862833,
669
+ -0.362370419175351
670
+ ]
671
+ }
672
+ },
673
+ "grasp_78": {
674
+ "confidence": 0.46542438864707947,
675
+ "position": [
676
+ -0.11114794277818874,
677
+ 0.006640205392614007,
678
+ 0.09248911123722792
679
+ ],
680
+ "orientation": {
681
+ "w": 0.346185415295269,
682
+ "xyz": [
683
+ -0.596521599926612,
684
+ 0.6294662818920704,
685
+ -0.3578964082228391
686
+ ]
687
+ }
688
+ },
689
+ "grasp_79": {
690
+ "confidence": 0.4167385995388031,
691
+ "position": [
692
+ -0.022054930042941123,
693
+ -0.11768366186879575,
694
+ 0.09170770179480314
695
+ ],
696
+ "orientation": {
697
+ "w": 0.49427779051100584,
698
+ "xyz": [
699
+ -0.8675083994558964,
700
+ -0.003448900746391592,
701
+ -0.05573820740451334
702
+ ]
703
+ }
704
+ }
705
+ }
706
+ },
707
+ {
708
+ "part_name": "front latch",
709
+ "mask_color": "Yellow",
710
+ "graspable": true,
711
+ "grasp_scenarios": [
712
+ {
713
+ "scenario": "pinch or pull the latch to release and open the container",
714
+ "confidence": 0.87
715
+ },
716
+ {
717
+ "scenario": "press or hold the latch area while securing the lid closed",
718
+ "confidence": 0.66
719
+ }
720
+ ],
721
+ "functional_labels": [
722
+ "lock the lid",
723
+ "release the closure",
724
+ "secure contents",
725
+ "indicate opening side"
726
+ ],
727
+ "semantic_description": "Small rectangular translucent clear plastic latch centered on one upper side, with a glossy smooth surface and slight outward protrusion from the front edge.",
728
+ "id": 3,
729
+ "grasp_group": {
730
+ "grasp_23": {
731
+ "confidence": 0.5805283188819885,
732
+ "position": [
733
+ -0.0005763283115811646,
734
+ 0.007020563120022416,
735
+ 0.1294870926067233
736
+ ],
737
+ "orientation": {
738
+ "w": 0.00208766682817275,
739
+ "xyz": [
740
+ 0.01979629034091535,
741
+ 0.9997872109197319,
742
+ -0.005411230663757203
743
+ ]
744
+ }
745
+ },
746
+ "grasp_24": {
747
+ "confidence": 0.5555160641670227,
748
+ "position": [
749
+ 0.0026005645631812513,
750
+ 0.005970854079350829,
751
+ 0.1277834279462695
752
+ ],
753
+ "orientation": {
754
+ "w": 0.06411105612032607,
755
+ "xyz": [
756
+ 0.9974432270236565,
757
+ 0.023062472234811462,
758
+ 0.021561626148999976
759
+ ]
760
+ }
761
+ },
762
+ "grasp_25": {
763
+ "confidence": 0.5525459051132202,
764
+ "position": [
765
+ -0.002583321707788855,
766
+ 0.01098464266397059,
767
+ 0.1293621314689517
768
+ ],
769
+ "orientation": {
770
+ "w": 0.007658005481599728,
771
+ "xyz": [
772
+ 0.005300069167182418,
773
+ 0.9999542567321577,
774
+ -0.002179142516065377
775
+ ]
776
+ }
777
+ },
778
+ "grasp_26": {
779
+ "confidence": 0.5408532023429871,
780
+ "position": [
781
+ -0.0021382247214205563,
782
+ 0.05380544648505747,
783
+ 0.11418068688362837
784
+ ],
785
+ "orientation": {
786
+ "w": 0.26044457960567297,
787
+ "xyz": [
788
+ 0.9650788332178112,
789
+ 0.02300075838970389,
790
+ 0.016199745135986574
791
+ ]
792
+ }
793
+ },
794
+ "grasp_27": {
795
+ "confidence": 0.536572277545929,
796
+ "position": [
797
+ -0.0020804459345526993,
798
+ 0.049023067811504006,
799
+ 0.1159448204562068
800
+ ],
801
+ "orientation": {
802
+ "w": 0.23994382179311394,
803
+ "xyz": [
804
+ 0.9701565774490605,
805
+ 0.02495779155327793,
806
+ 0.02450073991581965
807
+ ]
808
+ }
809
+ },
810
+ "grasp_28": {
811
+ "confidence": 0.5313447713851929,
812
+ "position": [
813
+ 0.08664347714511678,
814
+ -0.007071033352985978,
815
+ 0.11270650755614042
816
+ ],
817
+ "orientation": {
818
+ "w": 0.18490005122083997,
819
+ "xyz": [
820
+ -0.6871589398979083,
821
+ -0.6827806752470219,
822
+ 0.16563547894739758
823
+ ]
824
+ }
825
+ },
826
+ "grasp_29": {
827
+ "confidence": 0.5159859657287598,
828
+ "position": [
829
+ 0.003438084328081459,
830
+ -0.05358680500648916,
831
+ 0.11707852315157652
832
+ ],
833
+ "orientation": {
834
+ "w": 0.013759968751030756,
835
+ "xyz": [
836
+ 0.014596783463946012,
837
+ 0.9649908331721255,
838
+ 0.26151537061183244
839
+ ]
840
+ }
841
+ },
842
+ "grasp_30": {
843
+ "confidence": 0.5152263641357422,
844
+ "position": [
845
+ 0.0006846828473499045,
846
+ -0.05713385506533086,
847
+ 0.11707331519573927
848
+ ],
849
+ "orientation": {
850
+ "w": 0.2595152856303526,
851
+ "xyz": [
852
+ -0.9654974584962649,
853
+ -0.0011203350566139636,
854
+ -0.021568936246623666
855
+ ]
856
+ }
857
+ },
858
+ "grasp_31": {
859
+ "confidence": 0.5026134252548218,
860
+ "position": [
861
+ 0.010003484960179776,
862
+ -0.05992318480275571,
863
+ 0.11487059574574232
864
+ ],
865
+ "orientation": {
866
+ "w": 0.2741054219217094,
867
+ "xyz": [
868
+ -0.9616281368247062,
869
+ -0.011238282830658308,
870
+ 0.003353377280298484
871
+ ]
872
+ }
873
+ },
874
+ "grasp_32": {
875
+ "confidence": 0.48490431904792786,
876
+ "position": [
877
+ 0.0020165839814580977,
878
+ -0.040121996542438865,
879
+ 0.11904491763561964
880
+ ],
881
+ "orientation": {
882
+ "w": 0.2489008716479082,
883
+ "xyz": [
884
+ -0.968382499327377,
885
+ -0.014988375978368274,
886
+ -0.007683727930188663
887
+ ]
888
+ }
889
+ },
890
+ "grasp_33": {
891
+ "confidence": 0.48021188378334045,
892
+ "position": [
893
+ 0.00397599017014727,
894
+ 0.0060861974488943815,
895
+ 0.1307368678972125
896
+ ],
897
+ "orientation": {
898
+ "w": 0.006898542831336579,
899
+ "xyz": [
900
+ 0.9999417354170294,
901
+ 0.005059147923445705,
902
+ -0.006583380611250926
903
+ ]
904
+ }
905
+ },
906
+ "grasp_34": {
907
+ "confidence": 0.4579426050186157,
908
+ "position": [
909
+ 0.002572059805970639,
910
+ -0.05582785396836698,
911
+ 0.11645213048905134
912
+ ],
913
+ "orientation": {
914
+ "w": 0.029735668515924147,
915
+ "xyz": [
916
+ -0.0067826877141085075,
917
+ 0.9647485555054758,
918
+ 0.26140009528571667
919
+ ]
920
+ }
921
+ },
922
+ "grasp_35": {
923
+ "confidence": 0.4461510479450226,
924
+ "position": [
925
+ 0.005961185961496085,
926
+ -0.00951893045566976,
927
+ 0.12994056474417448
928
+ ],
929
+ "orientation": {
930
+ "w": 0.02408219769077218,
931
+ "xyz": [
932
+ -0.9996594499791234,
933
+ -0.009034494648582962,
934
+ 0.004405647314952325
935
+ ]
936
+ }
937
+ },
938
+ "grasp_36": {
939
+ "confidence": 0.43416473269462585,
940
+ "position": [
941
+ 0.00029441629885695875,
942
+ -0.05350006907247007,
943
+ 0.11313752364367247
944
+ ],
945
+ "orientation": {
946
+ "w": 0.032653562006189976,
947
+ "xyz": [
948
+ 0.04850435136351057,
949
+ 0.9626424517699024,
950
+ 0.26438718357277385
951
+ ]
952
+ }
953
+ },
954
+ "grasp_37": {
955
+ "confidence": 0.3950132727622986,
956
+ "position": [
957
+ -0.0019028639071621,
958
+ -0.05615977733395994,
959
+ 0.11151740234345198
960
+ ],
961
+ "orientation": {
962
+ "w": 0.05996020591773597,
963
+ "xyz": [
964
+ -0.005712892497754481,
965
+ 0.9622098711797505,
966
+ 0.26556411724828316
967
+ ]
968
+ }
969
+ },
970
+ "grasp_38": {
971
+ "confidence": 0.5845301151275635,
972
+ "position": [
973
+ 0.0030715783941559494,
974
+ 0.005056401947513223,
975
+ 0.1330961836501956
976
+ ],
977
+ "orientation": {
978
+ "w": 0.0013719355662296642,
979
+ "xyz": [
980
+ 0.013734399864206395,
981
+ 0.9998854713825424,
982
+ 0.006207106514564813
983
+ ]
984
+ }
985
+ },
986
+ "grasp_39": {
987
+ "confidence": 0.5230771899223328,
988
+ "position": [
989
+ 0.003030548745300621,
990
+ 0.05791462794877589,
991
+ 0.11976909916847944
992
+ ],
993
+ "orientation": {
994
+ "w": 0.27206722773547487,
995
+ "xyz": [
996
+ 0.9622014914622378,
997
+ 0.010143721876458012,
998
+ -0.006694649107409957
999
+ ]
1000
+ }
1001
+ }
1002
+ }
1003
+ },
1004
+ {
1005
+ "part_name": "side vent insert",
1006
+ "mask_color": "Green",
1007
+ "graspable": false,
1008
+ "grasp_scenarios": [],
1009
+ "functional_labels": [
1010
+ "provide ventilation opening",
1011
+ "allow airflow through the side wall",
1012
+ "serve as a perforated side insert"
1013
+ ],
1014
+ "semantic_description": "Small circular dark gray perforated or slotted insert on the body wall, slightly recessed and textured with horizontal lines, visible on one side of the container.",
1015
+ "id": 1,
1016
+ "grasp_group": {}
1017
+ }
1018
+ ],
1019
+ "quality_check": {
1020
+ "success": false,
1021
+ "message": "Green part misidentified as vent; it is a side hole/port, not perforated insert."
1022
+ }
1023
+ }
dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b845ff8fc63a091453a41a1726e7bda6942b65a9f5d47058f279241335c75d0b
3
+ size 3782196
dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>