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
2
xinjjj commited on
Commit
4437eac
·
verified ·
1 Parent(s): ec38f9b

Add asset desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/affordance_annot.json +725 -0
  3. dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/glue_stick_026.urdf +1 -0
.gitattributes CHANGED
@@ -8605,3 +8605,4 @@ dataset/tools/repair_tools/a9eb94287c8e56edb6423404a3e692fc/affordance/mesh_part
8605
  dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8606
  dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8607
  dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8605
  dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8606
  dataset/desktop_supplies/office_stationery/e9bb2ccdf2e058ddbdc4762bc4a5c539/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8607
  dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8608
+ dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/affordance_annot.json ADDED
@@ -0,0 +1,725 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to pull it off and open the glue stick",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp the capped end to pick up or reposition the glue stick",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "hold the cap while replacing it after use",
18
+ "confidence": 0.63
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the glue",
23
+ "protect from drying out",
24
+ "close the container",
25
+ "provide a removal grip"
26
+ ],
27
+ "semantic_description": "A short white plastic cylindrical cap with a smooth matte finish and rounded closed end, covering one end of the glue stick and slightly wider than the main body.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9853899478912354,
32
+ "position": [
33
+ -0.03608274273574352,
34
+ -0.013224812966655008,
35
+ 0.10172242834232748
36
+ ],
37
+ "orientation": {
38
+ "w": 0.040234853358368954,
39
+ "xyz": [
40
+ -0.7049617419480432,
41
+ -0.7063379324056811,
42
+ -0.049968232004738815
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9847666025161743,
48
+ "position": [
49
+ -0.034339237958192825,
50
+ 0.0022710074699716642,
51
+ 0.10828957124613225
52
+ ],
53
+ "orientation": {
54
+ "w": 0.03260971715087619,
55
+ "xyz": [
56
+ -0.7154346442024998,
57
+ 0.697820047392685,
58
+ -0.011707163578482945
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9839735627174377,
64
+ "position": [
65
+ -0.0836039949208498,
66
+ 0.007860174591769464,
67
+ 0.08986263140104711
68
+ ],
69
+ "orientation": {
70
+ "w": 0.163799735367309,
71
+ "xyz": [
72
+ -0.6979367052702043,
73
+ 0.6640065735743498,
74
+ -0.2124835814368325
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9838131666183472,
80
+ "position": [
81
+ -0.0338911097496748,
82
+ -0.003821197708020918,
83
+ 0.10839472874067724
84
+ ],
85
+ "orientation": {
86
+ "w": 0.0018027273606185566,
87
+ "xyz": [
88
+ -0.7154902380607541,
89
+ -0.6979045243536388,
90
+ -0.03161873337991601
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.983620285987854,
96
+ "position": [
97
+ -0.07984417863190174,
98
+ -0.004855465886066668,
99
+ 0.09032499953173101
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1957175998780234,
103
+ "xyz": [
104
+ -0.6834415254506734,
105
+ 0.6808951469682654,
106
+ -0.17602301333265138
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9831843972206116,
112
+ "position": [
113
+ -0.12537743337452412,
114
+ -0.0020565572631312534,
115
+ 0.05041119991801679
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3401543762053338,
119
+ "xyz": [
120
+ 0.6107920050941661,
121
+ 0.6099563425832615,
122
+ 0.37307021725656325
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9831134080886841,
128
+ "position": [
129
+ -0.03080068901181221,
130
+ -0.015074408423970453,
131
+ 0.10357454582117498
132
+ ],
133
+ "orientation": {
134
+ "w": 0.07690584440584082,
135
+ "xyz": [
136
+ -0.7117307236799185,
137
+ 0.6971962515342389,
138
+ 0.03797703138596763
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9829617142677307,
144
+ "position": [
145
+ -0.07937559671700001,
146
+ -0.0014417777274502441,
147
+ 0.09495314373634756
148
+ ],
149
+ "orientation": {
150
+ "w": 0.15787428979678186,
151
+ "xyz": [
152
+ 0.6883993541366656,
153
+ 0.6828699913571262,
154
+ 0.18673674718518132
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9827951788902283,
160
+ "position": [
161
+ -0.027812385000288486,
162
+ 0.0002351965886191465,
163
+ 0.10133675648830831
164
+ ],
165
+ "orientation": {
166
+ "w": 0.005467463602138083,
167
+ "xyz": [
168
+ 0.7131771467802868,
169
+ 0.7007534152196999,
170
+ 0.017120607758354917
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9826923608779907,
176
+ "position": [
177
+ -0.0285689951851964,
178
+ -0.0066205112234456465,
179
+ 0.10014747991226614
180
+ ],
181
+ "orientation": {
182
+ "w": 0.04315914449603998,
183
+ "xyz": [
184
+ -0.714237616771383,
185
+ 0.6984608712616165,
186
+ 0.012422815766502658
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9824917912483215,
192
+ "position": [
193
+ -0.08365064300596714,
194
+ 0.014720091785420664,
195
+ 0.08994457288645208
196
+ ],
197
+ "orientation": {
198
+ "w": 0.14152411114511645,
199
+ "xyz": [
200
+ -0.7061601360715669,
201
+ 0.6482902457622173,
202
+ -0.24703956249462336
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9823103547096252,
208
+ "position": [
209
+ -0.0789597574621439,
210
+ 0.012471240203012712,
211
+ 0.09225963219068944
212
+ ],
213
+ "orientation": {
214
+ "w": 0.22458301981643017,
215
+ "xyz": [
216
+ 0.6789704479799641,
217
+ 0.6862598480105753,
218
+ 0.13269897885259824
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9822825789451599,
224
+ "position": [
225
+ -0.03364582173526287,
226
+ -0.0029748378292424604,
227
+ 0.10360368504188955
228
+ ],
229
+ "orientation": {
230
+ "w": 0.004743602022178963,
231
+ "xyz": [
232
+ -0.7128282582133939,
233
+ 0.7011718199960446,
234
+ 0.014541367739961992
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.982105016708374,
240
+ "position": [
241
+ -0.07544389553368092,
242
+ -0.0018821855046553537,
243
+ 0.09294828935526311
244
+ ],
245
+ "orientation": {
246
+ "w": 0.1619822030246469,
247
+ "xyz": [
248
+ 0.684167475672451,
249
+ 0.6858089796245124,
250
+ 0.1879964749713511
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9820934534072876,
256
+ "position": [
257
+ -0.031561125069856644,
258
+ -0.007467230592737906,
259
+ 0.10852515860460699
260
+ ],
261
+ "orientation": {
262
+ "w": 0.008842634666249228,
263
+ "xyz": [
264
+ -0.714048532429908,
265
+ -0.6992651810836312,
266
+ -0.0329349004997785
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9820581078529358,
272
+ "position": [
273
+ -0.07837358303368092,
274
+ 0.01307183523022104,
275
+ 0.09225849970243871
276
+ ],
277
+ "orientation": {
278
+ "w": 0.22596144763583506,
279
+ "xyz": [
280
+ 0.6790483512204328,
281
+ 0.6849101049303663,
282
+ 0.136868217827969
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9820111989974976,
288
+ "position": [
289
+ -0.040577482432127,
290
+ -0.007012747970293276,
291
+ 0.10087971552275121
292
+ ],
293
+ "orientation": {
294
+ "w": 0.011688282410457166,
295
+ "xyz": [
296
+ 0.7175533922671105,
297
+ 0.6949481488675838,
298
+ 0.045028698468579195
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9819002151489258,
304
+ "position": [
305
+ -0.05529406853020191,
306
+ -0.008489841406117193,
307
+ 0.10377069725655019
308
+ ],
309
+ "orientation": {
310
+ "w": 0.11018954218926019,
311
+ "xyz": [
312
+ -0.6996380981339678,
313
+ 0.7052616141229567,
314
+ -0.031158499262425917
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9816758036613464,
320
+ "position": [
321
+ -0.1241732481867075,
322
+ -0.0006502967880805954,
323
+ 0.054240299155935645
324
+ ],
325
+ "orientation": {
326
+ "w": 0.33251395401793826,
327
+ "xyz": [
328
+ 0.6254538449657805,
329
+ 0.5977412741327379,
330
+ 0.37542952387771616
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9816646575927734,
336
+ "position": [
337
+ -0.08287275768816471,
338
+ -0.004595178921590559,
339
+ 0.09298365726135671
340
+ ],
341
+ "orientation": {
342
+ "w": 0.20351171054334372,
343
+ "xyz": [
344
+ -0.6863399317125808,
345
+ 0.6749885119846403,
346
+ -0.1786364758308137
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "barrel",
354
+ "mask_color": "Orange",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the barrel to pick up and hold the glue stick during use",
359
+ "confidence": 0.96
360
+ },
361
+ {
362
+ "scenario": "hold the barrel while removing or replacing the cap",
363
+ "confidence": 0.91
364
+ },
365
+ {
366
+ "scenario": "grasp the barrel to orient the glue stick for application",
367
+ "confidence": 0.88
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "main grasp surface",
372
+ "house the glue stick",
373
+ "support application",
374
+ "provide structural body"
375
+ ],
376
+ "semantic_description": "The main white plastic body is a medium-length tapered cylinder with a smooth matte surface, dark brand text on the side, and a broader central section between the cap and the base.",
377
+ "id": 4,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9831963777542114,
381
+ "position": [
382
+ -0.03739029914140701,
383
+ -0.003152162811602466,
384
+ 0.10282484604977071
385
+ ],
386
+ "orientation": {
387
+ "w": 0.048484460394827705,
388
+ "xyz": [
389
+ 0.709694788186163,
390
+ 0.6987056393213521,
391
+ 0.07611172250159517
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9821797609329224,
397
+ "position": [
398
+ -0.02620428428053856,
399
+ -0.002067844194243662,
400
+ 0.10840810253284872
401
+ ],
402
+ "orientation": {
403
+ "w": 0.038636081117769984,
404
+ "xyz": [
405
+ -0.7116663695039389,
406
+ 0.7014502887456613,
407
+ -0.0023925241007755954
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9813962578773499,
413
+ "position": [
414
+ -0.02353312447667122,
415
+ -0.01052601337141823,
416
+ 0.10568137629888952
417
+ ],
418
+ "orientation": {
419
+ "w": 0.05694224010356113,
420
+ "xyz": [
421
+ -0.7134199996824406,
422
+ 0.6980143435358842,
423
+ 0.023779435722148627
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.9808909893035889,
429
+ "position": [
430
+ -0.014180011523421854,
431
+ 0.004513452484388836,
432
+ 0.10630987002514303
433
+ ],
434
+ "orientation": {
435
+ "w": 0.008639064306519428,
436
+ "xyz": [
437
+ 0.7139270010220728,
438
+ 0.7001479938638643,
439
+ -0.005137165360752221
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.9786432385444641,
445
+ "position": [
446
+ 0.02160017378628254,
447
+ -0.011478717249701731,
448
+ 0.10586109175346792
449
+ ],
450
+ "orientation": {
451
+ "w": 0.0708450572560035,
452
+ "xyz": [
453
+ -0.7011897492672404,
454
+ -0.7092411235703321,
455
+ -0.017057022648483054
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.9785820841789246,
461
+ "position": [
462
+ -0.00509242806583643,
463
+ 0.028659016083111055,
464
+ 0.10185149475000799
465
+ ],
466
+ "orientation": {
467
+ "w": 0.09468211765594173,
468
+ "xyz": [
469
+ 0.7048913503294082,
470
+ 0.6974025678228201,
471
+ -0.0882787586065138
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.9784947633743286,
477
+ "position": [
478
+ -0.018152878154069185,
479
+ -0.0002169427607441321,
480
+ 0.10349848284386098
481
+ ],
482
+ "orientation": {
483
+ "w": 0.0362883547694503,
484
+ "xyz": [
485
+ -0.709088979357466,
486
+ 0.7041052524158442,
487
+ -0.01057204721584049
488
+ ]
489
+ }
490
+ },
491
+ "grasp_27": {
492
+ "confidence": 0.9781658053398132,
493
+ "position": [
494
+ 0.09453416429460049,
495
+ -0.005788259950350039,
496
+ 0.07854173495434225
497
+ ],
498
+ "orientation": {
499
+ "w": 0.2661072368335061,
500
+ "xyz": [
501
+ -0.6523058884555226,
502
+ -0.6701127535693192,
503
+ 0.23373674057544352
504
+ ]
505
+ }
506
+ },
507
+ "grasp_28": {
508
+ "confidence": 0.9780303239822388,
509
+ "position": [
510
+ -0.016598428366705775,
511
+ 0.006863307862658985,
512
+ 0.10684007569216192
513
+ ],
514
+ "orientation": {
515
+ "w": 0.025300380523331875,
516
+ "xyz": [
517
+ -0.7130372754519341,
518
+ 0.6994952014339538,
519
+ -0.040548708146247926
520
+ ]
521
+ }
522
+ },
523
+ "grasp_29": {
524
+ "confidence": 0.9769789576530457,
525
+ "position": [
526
+ -0.019879635889083147,
527
+ -0.007981470596860163,
528
+ 0.10550161614082754
529
+ ],
530
+ "orientation": {
531
+ "w": 0.04767870564741851,
532
+ "xyz": [
533
+ -0.7147683840444986,
534
+ 0.6977312182770723,
535
+ 0.002011278149771502
536
+ ]
537
+ }
538
+ },
539
+ "grasp_30": {
540
+ "confidence": 0.9765710830688477,
541
+ "position": [
542
+ 0.1134094949811697,
543
+ -0.013249947500298731,
544
+ 0.05415786593221128
545
+ ],
546
+ "orientation": {
547
+ "w": 0.4137988032940433,
548
+ "xyz": [
549
+ -0.5727775955207483,
550
+ -0.652253289083422,
551
+ 0.27433924863523595
552
+ ]
553
+ }
554
+ },
555
+ "grasp_31": {
556
+ "confidence": 0.9763891100883484,
557
+ "position": [
558
+ -0.011544643435627222,
559
+ -0.0006659877690253779,
560
+ 0.10512476577423513
561
+ ],
562
+ "orientation": {
563
+ "w": 0.010268940622856236,
564
+ "xyz": [
565
+ 0.7112855488672979,
566
+ -0.7027565002785509,
567
+ -0.010035843127227745
568
+ ]
569
+ }
570
+ },
571
+ "grasp_32": {
572
+ "confidence": 0.9762636423110962,
573
+ "position": [
574
+ -0.014892893261276186,
575
+ -0.00980770196474623,
576
+ 0.10334347351454198
577
+ ],
578
+ "orientation": {
579
+ "w": 0.06138191151853749,
580
+ "xyz": [
581
+ -0.7126570444699818,
582
+ 0.6985554456869036,
583
+ 0.019299927637490697
584
+ ]
585
+ }
586
+ },
587
+ "grasp_33": {
588
+ "confidence": 0.9756439328193665,
589
+ "position": [
590
+ -0.02246166206896305,
591
+ -0.01716323364234995,
592
+ 0.10602911724708974
593
+ ],
594
+ "orientation": {
595
+ "w": 0.051089521605461104,
596
+ "xyz": [
597
+ -0.6980344845933268,
598
+ -0.7108750331575461,
599
+ -0.0692416517272042
600
+ ]
601
+ }
602
+ },
603
+ "grasp_34": {
604
+ "confidence": 0.9755042791366577,
605
+ "position": [
606
+ -0.024504223838448524,
607
+ 0.00957840979390312,
608
+ 0.09967379434965551
609
+ ],
610
+ "orientation": {
611
+ "w": 0.04499341982332691,
612
+ "xyz": [
613
+ 0.7100811165749362,
614
+ 0.7026337153815706,
615
+ -0.008140151434939196
616
+ ]
617
+ }
618
+ },
619
+ "grasp_35": {
620
+ "confidence": 0.9754312038421631,
621
+ "position": [
622
+ -0.009939594892784953,
623
+ -0.011438643370638601,
624
+ 0.10369736119173467
625
+ ],
626
+ "orientation": {
627
+ "w": 0.03896019901795672,
628
+ "xyz": [
629
+ -0.7011479385095009,
630
+ -0.7105889925154556,
631
+ -0.04401085016479685
632
+ ]
633
+ }
634
+ },
635
+ "grasp_36": {
636
+ "confidence": 0.975385844707489,
637
+ "position": [
638
+ -0.021978178061544895,
639
+ -0.019224257950554602,
640
+ 0.10429241671226919
641
+ ],
642
+ "orientation": {
643
+ "w": 0.07777179610018205,
644
+ "xyz": [
645
+ -0.7096780253783239,
646
+ 0.6987380908841848,
647
+ 0.04553820784791048
648
+ ]
649
+ }
650
+ },
651
+ "grasp_37": {
652
+ "confidence": 0.9753499031066895,
653
+ "position": [
654
+ 0.07690938375890255,
655
+ -0.0023605600435985252,
656
+ 0.09371823235414922
657
+ ],
658
+ "orientation": {
659
+ "w": 0.17503887366173299,
660
+ "xyz": [
661
+ -0.6680355604671498,
662
+ -0.7061884178494714,
663
+ 0.15616594108137968
664
+ ]
665
+ }
666
+ },
667
+ "grasp_38": {
668
+ "confidence": 0.9748830199241638,
669
+ "position": [
670
+ 0.030706344172358513,
671
+ 0.0229719804628985,
672
+ 0.10080257221125066
673
+ ],
674
+ "orientation": {
675
+ "w": 0.06902358903648609,
676
+ "xyz": [
677
+ 0.7041703826666406,
678
+ 0.6991879130805789,
679
+ -0.10254793285904919
680
+ ]
681
+ }
682
+ },
683
+ "grasp_39": {
684
+ "confidence": 0.9747970104217529,
685
+ "position": [
686
+ 0.040655115619301796,
687
+ -0.004433520414750092,
688
+ 0.10329794301651418
689
+ ],
690
+ "orientation": {
691
+ "w": 0.10552091955165864,
692
+ "xyz": [
693
+ 0.6984587339562288,
694
+ -0.6993121417105872,
695
+ -0.10946808189324675
696
+ ]
697
+ }
698
+ }
699
+ }
700
+ },
701
+ {
702
+ "part_name": "label panel",
703
+ "mask_color": "Purple",
704
+ "graspable": false,
705
+ "grasp_scenarios": [
706
+ {
707
+ "scenario": "light incidental contact on the raised top panel while holding the barrel",
708
+ "confidence": 0.28
709
+ }
710
+ ],
711
+ "functional_labels": [
712
+ "display brand marking",
713
+ "provide product identification",
714
+ "decorate the top surface"
715
+ ],
716
+ "semantic_description": "A raised elongated oval panel on the upper side of the white body, with a smooth matte finish and embossed branding, centered along the barrel.",
717
+ "id": 5,
718
+ "grasp_group": {}
719
+ }
720
+ ],
721
+ "quality_check": {
722
+ "success": false,
723
+ "message": "Blue part is twist base, not cap; purple panel description/function also inaccurate."
724
+ }
725
+ }
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de1afaa118a15c31bd1f045e39ec6640504376eb8fb7f2b03e2d8f2021a5be3a
3
+ size 3783220
dataset/desktop_supplies/office_stationery/ea34949cc370524b83d2a565179ae031/glue_stick_026.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>