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
b6c15c6
·
verified ·
1 Parent(s): 9ea27f5

Add asset desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/affordance_annot.json +740 -0
  3. dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/stamp_024.urdf +1 -0
.gitattributes CHANGED
@@ -6693,3 +6693,4 @@ dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/affordanc
6693
  dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6694
  dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6695
  dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6693
  dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6694
  dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6695
  dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6696
+ dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/affordance_annot.json ADDED
@@ -0,0 +1,740 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "stamp handle knob",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top knob to pick up and position the stamp",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the knob while pressing the stamp onto a surface",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the knob to reorient the stamp in-hand",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip surface",
23
+ "press downward",
24
+ "pick up the stamp",
25
+ "aid positioning and orientation"
26
+ ],
27
+ "semantic_description": "Large round white knob at the top, likely plastic with a matte to satin finish and smooth surface, forming the main upper grip for the stamp.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9741091132164001,
32
+ "position": [
33
+ -0.03419028321513906,
34
+ 0.013043741528235842,
35
+ 0.11885456647723913
36
+ ],
37
+ "orientation": {
38
+ "w": 0.15743106397105916,
39
+ "xyz": [
40
+ 0.7278836799241266,
41
+ 0.6604507914299051,
42
+ 0.09594561322261574
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9708660840988159,
48
+ "position": [
49
+ -0.047150821483228356,
50
+ 0.0013945686587248929,
51
+ 0.11376858409494162
52
+ ],
53
+ "orientation": {
54
+ "w": 0.14309406524888152,
55
+ "xyz": [
56
+ 0.7550220139606295,
57
+ 0.612279503069421,
58
+ 0.18595606213954613
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9708474278450012,
64
+ "position": [
65
+ -0.04920817265519872,
66
+ -0.004333883691288065,
67
+ 0.11126371379941702
68
+ ],
69
+ "orientation": {
70
+ "w": 0.1940711852053769,
71
+ "xyz": [
72
+ -0.7085728370482094,
73
+ 0.6560981025515681,
74
+ -0.17261572784269658
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9700775742530823,
80
+ "position": [
81
+ -0.03268089989433065,
82
+ 0.012381071057461668,
83
+ 0.11922175344079733
84
+ ],
85
+ "orientation": {
86
+ "w": 0.16815752943047313,
87
+ "xyz": [
88
+ 0.685776245759694,
89
+ 0.702834393306454,
90
+ 0.0863585643299405
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9697321653366089,
96
+ "position": [
97
+ 0.052328246587421745,
98
+ 0.014518528078042436,
99
+ 0.11059173848479986
100
+ ],
101
+ "orientation": {
102
+ "w": 0.14900968645620433,
103
+ "xyz": [
104
+ -0.6607158504920605,
105
+ -0.7025996275546563,
106
+ 0.21818442110021297
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.969434380531311,
112
+ "position": [
113
+ -0.0010119685903191566,
114
+ -0.05334741173282964,
115
+ 0.10940200742334127
116
+ ],
117
+ "orientation": {
118
+ "w": 0.2776737726861411,
119
+ "xyz": [
120
+ -0.9606131351175972,
121
+ -0.007253642674552918,
122
+ -0.008189338785019151
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9681336283683777,
128
+ "position": [
129
+ 0.06329548259964213,
130
+ 0.012253236789547373,
131
+ 0.10229629930108786
132
+ ],
133
+ "orientation": {
134
+ "w": 0.19410345678223884,
135
+ "xyz": [
136
+ -0.6722533108138393,
137
+ -0.6636757199207874,
138
+ 0.2644501332059445
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9679968953132629,
144
+ "position": [
145
+ -0.0450365217984654,
146
+ 0.017293530348979402,
147
+ 0.11263549979776144
148
+ ],
149
+ "orientation": {
150
+ "w": 0.19640692134016946,
151
+ "xyz": [
152
+ 0.7916951764284057,
153
+ 0.5601533392391932,
154
+ 0.14446904654234266
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9672266840934753,
160
+ "position": [
161
+ -0.050577004498336464,
162
+ 0.0010778683426906355,
163
+ 0.11342971678823233
164
+ ],
165
+ "orientation": {
166
+ "w": 0.1847314592621209,
167
+ "xyz": [
168
+ 0.6555336653537667,
169
+ 0.7126256935937947,
170
+ 0.16826919616110986
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9668553471565247,
176
+ "position": [
177
+ 0.09230860223760828,
178
+ 0.005280834920995403,
179
+ 0.07190003152936697
180
+ ],
181
+ "orientation": {
182
+ "w": 0.35931389973450073,
183
+ "xyz": [
184
+ -0.593423916680665,
185
+ -0.6240726882522996,
186
+ 0.35954812799750835
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9651099443435669,
192
+ "position": [
193
+ -0.05510330671677366,
194
+ -0.01908244488731725,
195
+ 0.10776937659829855
196
+ ],
197
+ "orientation": {
198
+ "w": 0.2558248096983513,
199
+ "xyz": [
200
+ -0.7037159088018189,
201
+ 0.6493015993904976,
202
+ -0.13321043304101302
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9648191928863525,
208
+ "position": [
209
+ 0.08329065045109019,
210
+ -0.003024908415682148,
211
+ 0.079790941439569
212
+ ],
213
+ "orientation": {
214
+ "w": 0.3415375420736535,
215
+ "xyz": [
216
+ -0.6407559011726316,
217
+ -0.604672853239449,
218
+ 0.32734496028196347
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9648164510726929,
224
+ "position": [
225
+ -0.018728566414210945,
226
+ -0.002054877746559214,
227
+ 0.12360314186662436
228
+ ],
229
+ "orientation": {
230
+ "w": 0.013001628344218936,
231
+ "xyz": [
232
+ -0.9963922041200122,
233
+ 0.020765815795057777,
234
+ -0.08125462524452712
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9646878242492676,
240
+ "position": [
241
+ 0.0010631187469698489,
242
+ -0.04532304329768522,
243
+ 0.11440243478864431
244
+ ],
245
+ "orientation": {
246
+ "w": 0.2412142781592406,
247
+ "xyz": [
248
+ -0.9701953337308503,
249
+ 0.023020425874990424,
250
+ 0.002597385519025406
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9645414352416992,
256
+ "position": [
257
+ -0.05544037098297849,
258
+ 0.013941502031229902,
259
+ 0.10957910027354956
260
+ ],
261
+ "orientation": {
262
+ "w": 0.1293531134614173,
263
+ "xyz": [
264
+ -0.7180725721826009,
265
+ 0.6422367786795148,
266
+ -0.23488608564208635
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9645096063613892,
272
+ "position": [
273
+ -0.04993398213991895,
274
+ -0.0065649661046336405,
275
+ 0.11511249002069235
276
+ ],
277
+ "orientation": {
278
+ "w": 0.12497853304183545,
279
+ "xyz": [
280
+ 0.7572598861892877,
281
+ 0.6043153378060117,
282
+ 0.21387099742532542
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9644968509674072,
288
+ "position": [
289
+ -0.0051375809707678854,
290
+ 0.007031913679384161,
291
+ 0.12757593300193548
292
+ ],
293
+ "orientation": {
294
+ "w": 0.03579455002493518,
295
+ "xyz": [
296
+ 0.9989225912136643,
297
+ -0.006502487003939093,
298
+ 0.028811883212561555
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9643255472183228,
304
+ "position": [
305
+ -0.051520695036742836,
306
+ 0.016701430846296716,
307
+ 0.10891664680093527
308
+ ],
309
+ "orientation": {
310
+ "w": 0.22545255431698497,
311
+ "xyz": [
312
+ 0.7477072970796677,
313
+ 0.6063384891524478,
314
+ 0.14986187046107166
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9629889130592346,
320
+ "position": [
321
+ -0.05598187173018232,
322
+ -0.007370307743258309,
323
+ 0.1080533554777503
324
+ ],
325
+ "orientation": {
326
+ "w": 0.18404017065377362,
327
+ "xyz": [
328
+ 0.6405365974255338,
329
+ 0.7163739822285173,
330
+ 0.20651973399727744
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9620353579521179,
336
+ "position": [
337
+ -0.017717567330691963,
338
+ -0.010838213544047903,
339
+ 0.12608525063842535
340
+ ],
341
+ "orientation": {
342
+ "w": 0.0004452942554587603,
343
+ "xyz": [
344
+ -0.774594688833449,
345
+ -0.6248156599374762,
346
+ -0.09802173657375521
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "stamp neck",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the narrow neck to lift or move the stamp when the top is obstructed",
359
+ "confidence": 0.58
360
+ },
361
+ {
362
+ "scenario": "pinch the neck to stabilize the stamp during placement",
363
+ "confidence": 0.55
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "connect handle to base",
368
+ "transfer pressing force",
369
+ "align top and base",
370
+ "secondary grip area"
371
+ ],
372
+ "semantic_description": "Short cylindrical white neck beneath the knob, likely smooth hard plastic with a slightly glossy finish, centered between the top handle and the stamp base.",
373
+ "id": 1,
374
+ "grasp_group": {
375
+ "grasp_20": {
376
+ "confidence": 0.3629957437515259,
377
+ "position": [
378
+ 0.052324688935186714,
379
+ 0.007667307108931709,
380
+ 0.09142640139907598
381
+ ],
382
+ "orientation": {
383
+ "w": 0.17801441391219766,
384
+ "xyz": [
385
+ -0.6846163422358986,
386
+ -0.6762347085571202,
387
+ 0.20571327454907445
388
+ ]
389
+ }
390
+ },
391
+ "grasp_21": {
392
+ "confidence": 0.9535192847251892,
393
+ "position": [
394
+ -0.010773439018521458,
395
+ -0.09262923819915159,
396
+ 0.028386873193085194
397
+ ],
398
+ "orientation": {
399
+ "w": 0.6129793616520659,
400
+ "xyz": [
401
+ -0.7872488884644573,
402
+ 0.028627996133830935,
403
+ -0.06062942880700426
404
+ ]
405
+ }
406
+ },
407
+ "grasp_22": {
408
+ "confidence": 0.9489250779151917,
409
+ "position": [
410
+ -0.09954472730169073,
411
+ 0.0026087815131177194,
412
+ -0.0006194561719894409
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5495636319285994,
416
+ "xyz": [
417
+ 0.47380368615884827,
418
+ 0.5076744561672746,
419
+ 0.4644959935230841
420
+ ]
421
+ }
422
+ },
423
+ "grasp_23": {
424
+ "confidence": 0.9418038129806519,
425
+ "position": [
426
+ 0.09800993552198634,
427
+ -0.0032405747842858545,
428
+ 0.018495473079383373
429
+ ],
430
+ "orientation": {
431
+ "w": 0.4897000681155186,
432
+ "xyz": [
433
+ 0.49259735408319755,
434
+ -0.5686445893367293,
435
+ -0.44066429519074013
436
+ ]
437
+ }
438
+ },
439
+ "grasp_24": {
440
+ "confidence": 0.93999844789505,
441
+ "position": [
442
+ -0.001036760862916708,
443
+ 0.09208016919001238,
444
+ 0.043753365986049175
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5524875145052707,
448
+ "xyz": [
449
+ 0.8304055575279615,
450
+ -0.06000955813999054,
451
+ 0.03978704907764313
452
+ ]
453
+ }
454
+ },
455
+ "grasp_25": {
456
+ "confidence": 0.938904881477356,
457
+ "position": [
458
+ 0.09913139691343531,
459
+ -0.00029290897509781644,
460
+ 0.004809753503650427
461
+ ],
462
+ "orientation": {
463
+ "w": 0.48882437074573115,
464
+ "xyz": [
465
+ 0.5019238537078942,
466
+ -0.5098492626018357,
467
+ -0.49917623047218546
468
+ ]
469
+ }
470
+ },
471
+ "grasp_26": {
472
+ "confidence": 0.9274013042449951,
473
+ "position": [
474
+ -0.09623568604001775,
475
+ 0.004731100350909401,
476
+ -0.0007900861091911793
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5115477523235753,
480
+ "xyz": [
481
+ 0.5003621177358446,
482
+ 0.48010404822787434,
483
+ 0.5074019620604615
484
+ ]
485
+ }
486
+ },
487
+ "grasp_29": {
488
+ "confidence": 0.9039456248283386,
489
+ "position": [
490
+ -0.07436194369802251,
491
+ 0.023407888431393076,
492
+ 0.07001089956611395
493
+ ],
494
+ "orientation": {
495
+ "w": 0.3834921254392482,
496
+ "xyz": [
497
+ 0.6459255270147832,
498
+ 0.6312634861502625,
499
+ 0.1929259296470532
500
+ ]
501
+ }
502
+ },
503
+ "grasp_31": {
504
+ "confidence": 0.8984522819519043,
505
+ "position": [
506
+ -0.018747975176665932,
507
+ -0.09420803857938154,
508
+ -0.015726826153695583
509
+ ],
510
+ "orientation": {
511
+ "w": 0.7903761228077713,
512
+ "xyz": [
513
+ -0.6023142844388688,
514
+ 0.11158377080775694,
515
+ -0.0084940772642094
516
+ ]
517
+ }
518
+ },
519
+ "grasp_35": {
520
+ "confidence": 0.8769840002059937,
521
+ "position": [
522
+ -4.554819315671921e-05,
523
+ -0.08544553739920957,
524
+ -0.04234734643250704
525
+ ],
526
+ "orientation": {
527
+ "w": 0.06057599737650526,
528
+ "xyz": [
529
+ -0.005978350719810051,
530
+ 0.4963520852418858,
531
+ 0.8659846507534326
532
+ ]
533
+ }
534
+ },
535
+ "grasp_37": {
536
+ "confidence": 0.8622207045555115,
537
+ "position": [
538
+ -0.09605646977433935,
539
+ -0.027800201605714392,
540
+ 0.0038470651488751173
541
+ ],
542
+ "orientation": {
543
+ "w": 0.5061061503078733,
544
+ "xyz": [
545
+ 0.41107782033724644,
546
+ 0.553141142691503,
547
+ 0.5185619215766439
548
+ ]
549
+ }
550
+ },
551
+ "grasp_39": {
552
+ "confidence": 0.8518589735031128,
553
+ "position": [
554
+ -0.03645799035439268,
555
+ -0.07990463746682508,
556
+ -0.03973272908478975
557
+ ],
558
+ "orientation": {
559
+ "w": 0.18002955783301913,
560
+ "xyz": [
561
+ 0.12991783275313717,
562
+ 0.49819292770553003,
563
+ 0.838161393660772
564
+ ]
565
+ }
566
+ }
567
+ }
568
+ },
569
+ {
570
+ "part_name": "stamp base",
571
+ "mask_color": "Blue",
572
+ "graspable": true,
573
+ "grasp_scenarios": [
574
+ {
575
+ "scenario": "grasp the base from the sides to pick up or relocate the stamp",
576
+ "confidence": 0.74
577
+ },
578
+ {
579
+ "scenario": "hold the base to stabilize the stamp while inspecting or storing it",
580
+ "confidence": 0.69
581
+ }
582
+ ],
583
+ "functional_labels": [
584
+ "support structure",
585
+ "house stamp die",
586
+ "provide stamping face",
587
+ "stabilize on a surface"
588
+ ],
589
+ "semantic_description": "Tapered rectangular black base with a hard smooth plastic body, mostly matte with a bright red accent band around the side, occupying the lower portion of the stamp.",
590
+ "id": 2,
591
+ "grasp_group": {
592
+ "grasp_40": {
593
+ "confidence": 0.9760091304779053,
594
+ "position": [
595
+ -0.006471342931035906,
596
+ -0.005454619116790127,
597
+ -0.1112352916970849
598
+ ],
599
+ "orientation": {
600
+ "w": 0.7143359888982358,
601
+ "xyz": [
602
+ -0.014364525380821431,
603
+ 0.02135924659422994,
604
+ 0.6993293487050937
605
+ ]
606
+ }
607
+ },
608
+ "grasp_41": {
609
+ "confidence": 0.975957453250885,
610
+ "position": [
611
+ 0.001940244750585407,
612
+ -0.0023168282859842293,
613
+ -0.11128147039562464
614
+ ],
615
+ "orientation": {
616
+ "w": 0.7126936738348193,
617
+ "xyz": [
618
+ -0.019907665724744537,
619
+ 0.004567750934224679,
620
+ 0.7011779715397669
621
+ ]
622
+ }
623
+ },
624
+ "grasp_42": {
625
+ "confidence": 0.9757378101348877,
626
+ "position": [
627
+ 0.009411518403794616,
628
+ -0.004181468095339369,
629
+ -0.1105411434546113
630
+ ],
631
+ "orientation": {
632
+ "w": 0.6971739289599552,
633
+ "xyz": [
634
+ 0.011498878206546832,
635
+ -0.02897165552815195,
636
+ -0.7162240792897765
637
+ ]
638
+ }
639
+ },
640
+ "grasp_43": {
641
+ "confidence": 0.9750403761863708,
642
+ "position": [
643
+ 0.0017456914647482336,
644
+ -0.0011228560979361646,
645
+ -0.11068727914243937
646
+ ],
647
+ "orientation": {
648
+ "w": 0.7067292424522624,
649
+ "xyz": [
650
+ -0.01182348852020101,
651
+ -0.0028497029447650535,
652
+ 0.7073795743271006
653
+ ]
654
+ }
655
+ },
656
+ "grasp_47": {
657
+ "confidence": 0.9738370776176453,
658
+ "position": [
659
+ 0.0022630150779150426,
660
+ -0.003489912189252209,
661
+ -0.10888165328651667
662
+ ],
663
+ "orientation": {
664
+ "w": 0.6949737663864887,
665
+ "xyz": [
666
+ -0.000692029286351558,
667
+ -0.028040010794168402,
668
+ -0.7184878168241325
669
+ ]
670
+ }
671
+ },
672
+ "grasp_50": {
673
+ "confidence": 0.973213255405426,
674
+ "position": [
675
+ 0.011273262032773346,
676
+ -0.0024266298205475323,
677
+ -0.11045827064663172
678
+ ],
679
+ "orientation": {
680
+ "w": 0.6923984366187412,
681
+ "xyz": [
682
+ 0.012785185481116247,
683
+ -0.019012604069786,
684
+ -0.7211514853944505
685
+ ]
686
+ }
687
+ },
688
+ "grasp_55": {
689
+ "confidence": 0.9713101983070374,
690
+ "position": [
691
+ -0.0031530021806247532,
692
+ 0.003592798086174298,
693
+ -0.1101407865062356
694
+ ],
695
+ "orientation": {
696
+ "w": 0.7072599024302955,
697
+ "xyz": [
698
+ 0.00010262173687823033,
699
+ -0.0234723818916881,
700
+ 0.7065638450779933
701
+ ]
702
+ }
703
+ },
704
+ "grasp_56": {
705
+ "confidence": 0.9712370038032532,
706
+ "position": [
707
+ -0.0028593699098564684,
708
+ -0.005060712974227499,
709
+ -0.10865780804306269
710
+ ],
711
+ "orientation": {
712
+ "w": 0.7009430464294905,
713
+ "xyz": [
714
+ -0.004463171972945118,
715
+ -0.020985476209585463,
716
+ -0.7128944771467532
717
+ ]
718
+ }
719
+ }
720
+ }
721
+ },
722
+ {
723
+ "part_name": "decorative grip band",
724
+ "mask_color": "Cyan",
725
+ "graspable": false,
726
+ "grasp_scenarios": [],
727
+ "functional_labels": [
728
+ "decorative accent",
729
+ "surface texture near the lower edge of the knob"
730
+ ],
731
+ "semantic_description": "Thin translucent faceted band encircling the lower edge of the white top knob, appearing clear to slightly bluish and glossy, like cut acrylic or plastic.",
732
+ "id": 6,
733
+ "grasp_group": {}
734
+ }
735
+ ],
736
+ "quality_check": {
737
+ "success": false,
738
+ "message": "Cyan part misidentified and graspability/function for base are inaccurate; base is not a useful grasp region and cyan ring is structural, not decorative knob band."
739
+ }
740
+ }
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67ecdaa922879fb95f2483f151ec245e68f209cd8b1292d4d3f65b26689ae0a6
3
+ size 3782140
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/stamp_024.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>