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
991be1f
·
verified ·
1 Parent(s): 510588c

Add asset livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordance/affordance_annot.json +690 -0
  3. dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7784,4 +7784,4 @@ dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/affordanc
7784
  dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7785
  dataset/livingroom_supplies/ornaments/ee454af209a95f6280c8425774e1f3cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7786
  dataset/livingroom_supplies/ornaments/f20a783002a05c0f80179236f21b8564/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7787
- dataset/livingroom_supplies/ornaments/f3db143e193059b9ae30e58bbadd30c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7784
  dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7785
  dataset/livingroom_supplies/ornaments/ee454af209a95f6280c8425774e1f3cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7786
  dataset/livingroom_supplies/ornaments/f20a783002a05c0f80179236f21b8564/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7787
+ dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordance/affordance_annot.json ADDED
@@ -0,0 +1,690 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to twist and remove it from the bottle",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to tighten and close the bottle",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "pick up the small bottle by the cap for a brief transfer",
18
+ "confidence": 0.4
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "seal the bottle opening",
23
+ "enable opening and closing",
24
+ "provide twisting grip",
25
+ "help prevent leakage"
26
+ ],
27
+ "semantic_description": "Small light beige to pale gold cap with a smooth flat circular top and ribbed cylindrical sides, likely plastic, positioned on the bottle neck.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9758416414260864,
32
+ "position": [
33
+ 0.011577796947676688,
34
+ -0.03985292196739465,
35
+ 0.16004138300195336
36
+ ],
37
+ "orientation": {
38
+ "w": 0.22206248341215343,
39
+ "xyz": [
40
+ -0.9634643051975368,
41
+ -0.1470782718224279,
42
+ 0.028156136609679118
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9755579233169556,
48
+ "position": [
49
+ -0.06857401243178174,
50
+ 0.057118392433039844,
51
+ 0.11694459477439523
52
+ ],
53
+ "orientation": {
54
+ "w": 0.22907330124109904,
55
+ "xyz": [
56
+ -0.3477846760268959,
57
+ 0.7880078466732334,
58
+ -0.4534477647544266
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9755004048347473,
64
+ "position": [
65
+ 0.01859778055222705,
66
+ -0.056811456684954464,
67
+ 0.15179762849584222
68
+ ],
69
+ "orientation": {
70
+ "w": 0.28062260555956936,
71
+ "xyz": [
72
+ -0.9495464923535618,
73
+ -0.11991384293058183,
74
+ 0.07234004687326072
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9743459224700928,
80
+ "position": [
81
+ -0.0633081208798103,
82
+ 0.06245629012119025,
83
+ 0.11936568329110742
84
+ ],
85
+ "orientation": {
86
+ "w": 0.19063059432369808,
87
+ "xyz": [
88
+ -0.3533572401148203,
89
+ 0.789633209359368,
90
+ -0.46398063757343955
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9731727242469788,
96
+ "position": [
97
+ -0.0626815494033508,
98
+ 0.0617198672844097,
99
+ 0.11352658132091165
100
+ ],
101
+ "orientation": {
102
+ "w": 0.2185105514604317,
103
+ "xyz": [
104
+ -0.3055277404744548,
105
+ 0.8038552060369746,
106
+ -0.46121876200810147
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9731281399726868,
112
+ "position": [
113
+ -0.049783718946855515,
114
+ 0.06876309483777732,
115
+ 0.12343048164620996
116
+ ],
117
+ "orientation": {
118
+ "w": 0.17004154546720512,
119
+ "xyz": [
120
+ -0.24895787619161272,
121
+ 0.8363608670025249,
122
+ -0.45782785940140364
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.972773015499115,
128
+ "position": [
129
+ 0.05950208642752841,
130
+ -0.06775417656172067,
131
+ 0.12130135903134942
132
+ ],
133
+ "orientation": {
134
+ "w": 0.469150002867744,
135
+ "xyz": [
136
+ -0.799621547511256,
137
+ -0.34587742747920314,
138
+ 0.14447304497818328
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9724145531654358,
144
+ "position": [
145
+ 0.019237282511312515,
146
+ -0.07891415536869317,
147
+ 0.13418046245351434
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4401678243668921,
151
+ "xyz": [
152
+ -0.8865361761587313,
153
+ -0.13522167105576532,
154
+ 0.04495547164537364
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9723135828971863,
160
+ "position": [
161
+ 0.019910850387532264,
162
+ -0.05154720798600465,
163
+ 0.1525468290783465
164
+ ],
165
+ "orientation": {
166
+ "w": 0.2736886989980658,
167
+ "xyz": [
168
+ -0.933319146665608,
169
+ -0.23077765033966452,
170
+ 0.027414277517944688
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9722822308540344,
176
+ "position": [
177
+ 0.034859808918554336,
178
+ -0.07397720695007592,
179
+ 0.13326025614514947
180
+ ],
181
+ "orientation": {
182
+ "w": 0.43309918958805854,
183
+ "xyz": [
184
+ -0.8651409734517149,
185
+ -0.23860674093389622,
186
+ 0.08380340812932732
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9722476601600647,
192
+ "position": [
193
+ 0.01459011883707717,
194
+ -0.050862220232374966,
195
+ 0.15782039472833276
196
+ ],
197
+ "orientation": {
198
+ "w": 0.2513022325224631,
199
+ "xyz": [
200
+ -0.939110358984835,
201
+ -0.2342224090713813,
202
+ 0.007667115846199452
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9718934893608093,
208
+ "position": [
209
+ 0.00018315043416805565,
210
+ -0.055119161610491574,
211
+ 0.15530104050412774
212
+ ],
213
+ "orientation": {
214
+ "w": 0.2629317218159129,
215
+ "xyz": [
216
+ -0.9597797218279189,
217
+ -0.09682472784372154,
218
+ -0.017741682807195385
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9710273146629333,
224
+ "position": [
225
+ 0.011446960095781833,
226
+ -0.09930381656158715,
227
+ 0.07615724811330438
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6883080675542113,
231
+ "xyz": [
232
+ -0.7236197985931294,
233
+ -0.03787068141474337,
234
+ 0.034237446064351564
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9705946445465088,
240
+ "position": [
241
+ 0.018632019695360214,
242
+ -0.04706743091810495,
243
+ 0.15750696370378137
244
+ ],
245
+ "orientation": {
246
+ "w": 0.05957882629512663,
247
+ "xyz": [
248
+ 0.1764284954806949,
249
+ -0.9512746249800464,
250
+ -0.24576398700539084
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9703837037086487,
256
+ "position": [
257
+ 0.020817511540371925,
258
+ -0.035843745921738446,
259
+ 0.15963036427274346
260
+ ],
261
+ "orientation": {
262
+ "w": 0.20949221797472634,
263
+ "xyz": [
264
+ -0.9294522401428769,
265
+ -0.30046764063741427,
266
+ 0.044167191796658116
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9703606963157654,
272
+ "position": [
273
+ 0.03966143244178966,
274
+ -0.0771564292954281,
275
+ 0.12217559525743127
276
+ ],
277
+ "orientation": {
278
+ "w": 0.46442968810712587,
279
+ "xyz": [
280
+ -0.8475760127169665,
281
+ -0.2333306777361116,
282
+ 0.1071296518184079
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9702897667884827,
288
+ "position": [
289
+ 0.023774490517098457,
290
+ -0.08307012647856027,
291
+ 0.12531746784225106
292
+ ],
293
+ "orientation": {
294
+ "w": 0.4672461876589921,
295
+ "xyz": [
296
+ -0.8746907123677756,
297
+ -0.09915345092761457,
298
+ 0.08225418521167263
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9701650738716125,
304
+ "position": [
305
+ 0.044192912813741714,
306
+ -0.06918917328584939,
307
+ 0.12954947957769036
308
+ ],
309
+ "orientation": {
310
+ "w": 0.42626441340053267,
311
+ "xyz": [
312
+ -0.8489921994563028,
313
+ -0.29209646201506967,
314
+ 0.11041083284228968
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9700698256492615,
320
+ "position": [
321
+ -0.050311261031311005,
322
+ 0.04360022291075438,
323
+ 0.1430483073927462
324
+ ],
325
+ "orientation": {
326
+ "w": 0.328735074548329,
327
+ "xyz": [
328
+ 0.855528532289842,
329
+ 0.36456395408250053,
330
+ 0.16461258938315015
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9699834585189819,
336
+ "position": [
337
+ -0.05959670728771016,
338
+ 0.06557365029584616,
339
+ 0.1159354136325419
340
+ ],
341
+ "orientation": {
342
+ "w": 0.16603793420679785,
343
+ "xyz": [
344
+ -0.34408970328703536,
345
+ 0.787530670635627,
346
+ -0.48355881059533906
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "bottle body",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the bottle body to pick up and move the bottle",
359
+ "confidence": 0.95
360
+ },
361
+ {
362
+ "scenario": "hold the bottle body while unscrewing or tightening the cap",
363
+ "confidence": 0.93
364
+ },
365
+ {
366
+ "scenario": "grasp the bottle body to position or pour the contents",
367
+ "confidence": 0.82
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "contain liquid",
372
+ "main support structure",
373
+ "provide main grasp surface",
374
+ "support pouring and positioning"
375
+ ],
376
+ "semantic_description": "Rounded bulbous bottle body with a glossy smooth hard surface, mostly opaque cream or off-white with yellow/golden areas, broad at the middle with a short narrow neck and a flat circular base.",
377
+ "id": 1,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.949652373790741,
381
+ "position": [
382
+ 0.04313941561849788,
383
+ -0.0846828717039898,
384
+ 0.09930845210328698
385
+ ],
386
+ "orientation": {
387
+ "w": 0.5178730427435375,
388
+ "xyz": [
389
+ -0.8219547427892424,
390
+ -0.19909883730630784,
391
+ 0.1286762036629019
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.9482349753379822,
397
+ "position": [
398
+ 0.03803713509114459,
399
+ -0.08885882527101785,
400
+ 0.09037101874127984
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5594619692636591,
404
+ "xyz": [
405
+ -0.803917161190671,
406
+ -0.16107652208774081,
407
+ 0.12154775572950426
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9465376138687134,
413
+ "position": [
414
+ 0.05750713759334758,
415
+ -0.08326130092609674,
416
+ 0.07689077267423272
417
+ ],
418
+ "orientation": {
419
+ "w": 0.5988793484044054,
420
+ "xyz": [
421
+ -0.7427102823559356,
422
+ -0.20831134997383904,
423
+ 0.21524716957386086
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.94449383020401,
429
+ "position": [
430
+ 0.06596244015963748,
431
+ -0.0805044072913006,
432
+ 0.056906106416136026
433
+ ],
434
+ "orientation": {
435
+ "w": 0.6708701148431022,
436
+ "xyz": [
437
+ -0.6624068102032314,
438
+ -0.23063370932490868,
439
+ 0.24074592193808073
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.9428012371063232,
445
+ "position": [
446
+ 0.050221635785419494,
447
+ -0.09241723001468927,
448
+ 0.057998175267130136
449
+ ],
450
+ "orientation": {
451
+ "w": 0.6773230446745075,
452
+ "xyz": [
453
+ -0.6934431285518764,
454
+ -0.15013362827741839,
455
+ 0.19449939402810304
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.938133716583252,
461
+ "position": [
462
+ 0.02819979639025405,
463
+ -0.09251656860578805,
464
+ 0.09472498903051019
465
+ ],
466
+ "orientation": {
467
+ "w": 0.5352470064392244,
468
+ "xyz": [
469
+ -0.831538053251227,
470
+ -0.12317851575057015,
471
+ 0.0829587930872609
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.9286494255065918,
477
+ "position": [
478
+ 0.03825684153707698,
479
+ -0.0873754593776539,
480
+ 0.09260281780734658
481
+ ],
482
+ "orientation": {
483
+ "w": 0.11120036015879192,
484
+ "xyz": [
485
+ 0.1745241416940242,
486
+ -0.8182762418269948,
487
+ -0.5362833168466169
488
+ ]
489
+ }
490
+ },
491
+ "grasp_28": {
492
+ "confidence": 0.9232468605041504,
493
+ "position": [
494
+ 0.00549348519416526,
495
+ -0.09755671501625329,
496
+ 0.09015056351199746
497
+ ],
498
+ "orientation": {
499
+ "w": 0.562407687915905,
500
+ "xyz": [
501
+ -0.8254459295519635,
502
+ -0.048063431114609645,
503
+ -0.005149422168739884
504
+ ]
505
+ }
506
+ },
507
+ "grasp_29": {
508
+ "confidence": 0.9202940464019775,
509
+ "position": [
510
+ -0.001419529493432492,
511
+ -0.10342193127144128,
512
+ 0.06299438932910562
513
+ ],
514
+ "orientation": {
515
+ "w": 0.6911763520350055,
516
+ "xyz": [
517
+ -0.7215330029484595,
518
+ -0.028236627022470207,
519
+ -0.0294630096588018
520
+ ]
521
+ }
522
+ },
523
+ "grasp_30": {
524
+ "confidence": 0.920240044593811,
525
+ "position": [
526
+ -0.0012463596067391336,
527
+ 0.10649969696532935,
528
+ 0.07821819046512246
529
+ ],
530
+ "orientation": {
531
+ "w": 0.6329992495102257,
532
+ "xyz": [
533
+ 0.7740210424375438,
534
+ 0.010553167374128591,
535
+ 0.009592009266184406
536
+ ]
537
+ }
538
+ },
539
+ "grasp_31": {
540
+ "confidence": 0.9199036955833435,
541
+ "position": [
542
+ 0.029131297778803855,
543
+ -0.09989148110616952,
544
+ 0.05910203838720918
545
+ ],
546
+ "orientation": {
547
+ "w": 0.7009059740899964,
548
+ "xyz": [
549
+ -0.6987486468972198,
550
+ -0.11974112165184458,
551
+ 0.07837861781006357
552
+ ]
553
+ }
554
+ },
555
+ "grasp_32": {
556
+ "confidence": 0.9198130965232849,
557
+ "position": [
558
+ 0.023429929104167968,
559
+ -0.10049384564626962,
560
+ 0.05475214356556535
561
+ ],
562
+ "orientation": {
563
+ "w": 0.07968820346142329,
564
+ "xyz": [
565
+ 0.046739716241523205,
566
+ -0.6885458751197613,
567
+ -0.719284204616169
568
+ ]
569
+ }
570
+ },
571
+ "grasp_33": {
572
+ "confidence": 0.9187960624694824,
573
+ "position": [
574
+ -0.016042486939113587,
575
+ -0.10786544263828546,
576
+ 0.06307066837325692
577
+ ],
578
+ "orientation": {
579
+ "w": 0.08112370284548738,
580
+ "xyz": [
581
+ 0.046547564551377124,
582
+ 0.7268097850943617,
583
+ 0.6804408904247744
584
+ ]
585
+ }
586
+ },
587
+ "grasp_34": {
588
+ "confidence": 0.9140027761459351,
589
+ "position": [
590
+ 0.0846236635115929,
591
+ -0.06518453836906701,
592
+ 0.051406039390712976
593
+ ],
594
+ "orientation": {
595
+ "w": 0.6387881814919169,
596
+ "xyz": [
597
+ -0.6301143794651572,
598
+ -0.30057839839822575,
599
+ 0.32335453359099137
600
+ ]
601
+ }
602
+ },
603
+ "grasp_35": {
604
+ "confidence": 0.9123163223266602,
605
+ "position": [
606
+ 0.044254063453990966,
607
+ -0.08081917942035943,
608
+ 0.09757807711139321
609
+ ],
610
+ "orientation": {
611
+ "w": 0.5168833624459173,
612
+ "xyz": [
613
+ -0.8113621033899822,
614
+ -0.25090419910898853,
615
+ 0.10756490914170733
616
+ ]
617
+ }
618
+ },
619
+ "grasp_36": {
620
+ "confidence": 0.9091472625732422,
621
+ "position": [
622
+ 0.07852341124089435,
623
+ -0.07051022828090936,
624
+ 0.04941640654578805
625
+ ],
626
+ "orientation": {
627
+ "w": 0.3165405275083813,
628
+ "xyz": [
629
+ 0.2360580316814231,
630
+ -0.6493947215776733,
631
+ -0.6498962961199766
632
+ ]
633
+ }
634
+ },
635
+ "grasp_37": {
636
+ "confidence": 0.9083886742591858,
637
+ "position": [
638
+ 0.028743064787704498,
639
+ -0.09931026876438409,
640
+ 0.056080630514770746
641
+ ],
642
+ "orientation": {
643
+ "w": 0.06809856748111802,
644
+ "xyz": [
645
+ 0.0954302467937365,
646
+ -0.6859524847277901,
647
+ -0.7181398483580185
648
+ ]
649
+ }
650
+ },
651
+ "grasp_38": {
652
+ "confidence": 0.9075064063072205,
653
+ "position": [
654
+ 0.006082630541641265,
655
+ -0.10820406407583505,
656
+ 0.05727817723527551
657
+ ],
658
+ "orientation": {
659
+ "w": 0.702433527492797,
660
+ "xyz": [
661
+ -0.7104812718722823,
662
+ -0.04238505716349128,
663
+ -0.0026473953270794996
664
+ ]
665
+ }
666
+ },
667
+ "grasp_39": {
668
+ "confidence": 0.9059218168258667,
669
+ "position": [
670
+ 0.0979327026871033,
671
+ -0.03968905017245561,
672
+ 0.05681692669168115
673
+ ],
674
+ "orientation": {
675
+ "w": 0.40080651054311167,
676
+ "xyz": [
677
+ 0.3867727602452261,
678
+ -0.5955243906061678,
679
+ -0.578888308079975
680
+ ]
681
+ }
682
+ }
683
+ }
684
+ }
685
+ ],
686
+ "quality_check": {
687
+ "success": true,
688
+ "message": "YES"
689
+ }
690
+ }
dataset/livingroom_supplies/ornaments/f36681a08aa25a8cb1cb66e8c195dcfa/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07a9bf4e5a3bffeaecb66e864c32c94f277e64939b9e88abf0dc53deaaeaacaf
3
+ size 3777992