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
0fb9512
·
verified ·
1 Parent(s): 9eb83e4

Add asset desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/affordance_annot.json +780 -0
  3. dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.urdf +1 -0
.gitattributes CHANGED
@@ -6312,3 +6312,4 @@ dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/affo
6312
  dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6313
  dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6314
  dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6312
  dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6313
  dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6314
  dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6315
+ dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,780 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sharpener body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and reposition the sharpener",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while inserting and rotating a pencil into the top opening",
14
+ "confidence": 0.94
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "enclose shavings reservoir",
20
+ "support side blade assembly",
21
+ "stabilize during sharpening"
22
+ ],
23
+ "semantic_description": "Large translucent frosted light-gray plastic cylindrical body with a smooth semi-matte finish, forming most of the sharpener and showing the black PILOT branding with a red line near the upper side.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9647638201713562,
28
+ "position": [
29
+ 0.1090734955505468,
30
+ -0.011904772909474559,
31
+ -0.010565137257799506
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5262607896859817,
35
+ "xyz": [
36
+ -0.5301123581558415,
37
+ -0.48351621633782016,
38
+ 0.45633599190497626
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9630914330482483,
44
+ "position": [
45
+ 0.10607836215058342,
46
+ -0.016824641803395934,
47
+ -0.0038927204441279173
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5327222006746617,
51
+ "xyz": [
52
+ -0.5437379801671098,
53
+ -0.46533757417712696,
54
+ 0.45168241928492603
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9622470736503601,
60
+ "position": [
61
+ 0.10955105541506782,
62
+ -0.012723657840979286,
63
+ -0.011017731158062816
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5262241614391786,
67
+ "xyz": [
68
+ -0.531379750171555,
69
+ -0.4758621892182452,
70
+ 0.46290265704321487
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9621338248252869,
76
+ "position": [
77
+ 0.10550743906060234,
78
+ -0.008511673266184516,
79
+ 0.013757031643763185
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5178981954725423,
83
+ "xyz": [
84
+ -0.5186572747715945,
85
+ -0.4943111553411116,
86
+ 0.4673677055147505
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9588099122047424,
92
+ "position": [
93
+ 0.10847598878899589,
94
+ -0.014477214383077808,
95
+ -0.021133089205250144
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5449540983980213,
99
+ "xyz": [
100
+ -0.5177623463612565,
101
+ -0.4567135576326279,
102
+ 0.47577296014405224
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9577955603599548,
108
+ "position": [
109
+ 0.10586561082163826,
110
+ -0.026066043952596374,
111
+ -0.01408877200447023
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5538027974832043,
115
+ "xyz": [
116
+ -0.5589266995973163,
117
+ -0.4378309478185096,
118
+ 0.4349798467853128
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.9577803611755371,
124
+ "position": [
125
+ 0.10390375374117866,
126
+ -0.015986354628694244,
127
+ -0.012952938443049788
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5279008176285205,
131
+ "xyz": [
132
+ -0.537713661097294,
133
+ -0.468690389875303,
134
+ 0.4609924770047998
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9569849967956543,
140
+ "position": [
141
+ 0.11019638745347038,
142
+ 0.0004146262363065034,
143
+ -0.0055551177356392145
144
+ ],
145
+ "orientation": {
146
+ "w": 0.4979306545659915,
147
+ "xyz": [
148
+ -0.49979015864973797,
149
+ -0.5105570401976123,
150
+ 0.49153470809802097
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9569395780563354,
156
+ "position": [
157
+ 0.10724430350819603,
158
+ -0.007309191933018155,
159
+ -0.011465552961453795
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5084884466328088,
163
+ "xyz": [
164
+ -0.51665223655049,
165
+ -0.49748671288376867,
166
+ 0.4764629435878855
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9560235142707825,
172
+ "position": [
173
+ 0.10674555419245735,
174
+ -0.00224328444164712,
175
+ -0.009341350523754954
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4999714600279376,
179
+ "xyz": [
180
+ -0.5060449226952115,
181
+ -0.5078820797330781,
182
+ 0.48580126436428006
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.9555384516716003,
188
+ "position": [
189
+ 0.10418712167302147,
190
+ -0.009488094205153175,
191
+ 0.00033144024200737476
192
+ ],
193
+ "orientation": {
194
+ "w": 0.5200429929896446,
195
+ "xyz": [
196
+ -0.5247786954329274,
197
+ -0.48632539615629766,
198
+ 0.46652997258001266
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.9553965330123901,
204
+ "position": [
205
+ 0.10703648446360603,
206
+ 0.0018077864515362307,
207
+ 0.009961802745237947
208
+ ],
209
+ "orientation": {
210
+ "w": 0.4984250398308528,
211
+ "xyz": [
212
+ -0.4949902818194061,
213
+ -0.5144994240588551,
214
+ 0.4917798727246415
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.9550204277038574,
220
+ "position": [
221
+ 0.10541546909371391,
222
+ -0.008979676829767413,
223
+ -0.021258188178762794
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5148006420713844,
227
+ "xyz": [
228
+ -0.5209722664820143,
229
+ -0.4882195114477538,
230
+ 0.47456285687061517
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.9542230367660522,
236
+ "position": [
237
+ 0.10544510005274788,
238
+ -0.007436726780724712,
239
+ -0.02071733004413545
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5153986024937068,
243
+ "xyz": [
244
+ -0.5179597726210454,
245
+ -0.48822438835468385,
246
+ 0.47719901624959804
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.9539614915847778,
252
+ "position": [
253
+ 0.10820653109112754,
254
+ -0.015076404975843616,
255
+ 0.0013671931228600442
256
+ ],
257
+ "orientation": {
258
+ "w": 0.536242946905458,
259
+ "xyz": [
260
+ -0.5317202854206222,
261
+ -0.4797252468898223,
262
+ 0.44674458862179983
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.9537802338600159,
268
+ "position": [
269
+ 0.10739204852143303,
270
+ 0.007931798623758368,
271
+ -0.007637889822944999
272
+ ],
273
+ "orientation": {
274
+ "w": 0.4949202197071661,
275
+ "xyz": [
276
+ -0.46893999980502254,
277
+ -0.5161258515070671,
278
+ 0.5184239173822712
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9536319375038147,
284
+ "position": [
285
+ 0.10458019195357338,
286
+ 0.011035421324777417,
287
+ 0.0093939492944628
288
+ ],
289
+ "orientation": {
290
+ "w": 0.43820280864460304,
291
+ "xyz": [
292
+ -0.5022175862626347,
293
+ -0.5683745043948814,
294
+ 0.48239632803161725
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.9531984925270081,
300
+ "position": [
301
+ 0.10302703647175804,
302
+ -0.012423257881891914,
303
+ 0.017635628813877702
304
+ ],
305
+ "orientation": {
306
+ "w": 0.5224494349794262,
307
+ "xyz": [
308
+ -0.536801151483428,
309
+ -0.48284457337532305,
310
+ 0.45359919490420925
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.9528819918632507,
316
+ "position": [
317
+ 0.1030767690972425,
318
+ -0.013036357777309604,
319
+ 0.013237445848062634
320
+ ],
321
+ "orientation": {
322
+ "w": 0.4513168224029203,
323
+ "xyz": [
324
+ 0.4828771456207184,
325
+ -0.5307696535585743,
326
+ -0.5304963363819104
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.9528793096542358,
332
+ "position": [
333
+ 0.11054008273640648,
334
+ 0.004543642440694384,
335
+ -0.00440625729970634
336
+ ],
337
+ "orientation": {
338
+ "w": 0.485203762207172,
339
+ "xyz": [
340
+ -0.49225547675259784,
341
+ -0.5232121948023779,
342
+ 0.4985086297720009
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "top collar",
350
+ "mask_color": "Purple",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp the upper collar area to stabilize the sharpener during handling",
355
+ "confidence": 0.63
356
+ },
357
+ {
358
+ "scenario": "hold the upper section while aligning a pencil with the entry hole",
359
+ "confidence": 0.58
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "form upper housing around the entry opening",
364
+ "support the top opening structure",
365
+ "provide upper grip area"
366
+ ],
367
+ "semantic_description": "Translucent frosted light-gray plastic upper cylindrical collar at the top of the sharpener, smooth and slightly rounded, surrounding the circular pencil entry opening.",
368
+ "id": 5,
369
+ "grasp_group": {
370
+ "grasp_20": {
371
+ "confidence": 0.9737254977226257,
372
+ "position": [
373
+ -0.05552105786046013,
374
+ 0.002454044690239243,
375
+ 0.12131273769773543
376
+ ],
377
+ "orientation": {
378
+ "w": 0.17600797894942008,
379
+ "xyz": [
380
+ 0.716857892231885,
381
+ 0.6469873339765919,
382
+ 0.19116313286003
383
+ ]
384
+ }
385
+ },
386
+ "grasp_21": {
387
+ "confidence": 0.9734308123588562,
388
+ "position": [
389
+ -0.05317671032389626,
390
+ 0.0058148432726738974,
391
+ 0.12124270224012434
392
+ ],
393
+ "orientation": {
394
+ "w": 0.17847586717942168,
395
+ "xyz": [
396
+ 0.7339173392770543,
397
+ 0.6290272442360338,
398
+ 0.18394681283421047
399
+ ]
400
+ }
401
+ },
402
+ "grasp_22": {
403
+ "confidence": 0.9729207158088684,
404
+ "position": [
405
+ -0.02467576222261414,
406
+ -0.0021923366730334237,
407
+ 0.12929839664138854
408
+ ],
409
+ "orientation": {
410
+ "w": 0.09409666216474145,
411
+ "xyz": [
412
+ -0.6349211372249695,
413
+ 0.7646668559558482,
414
+ -0.05749406123248696
415
+ ]
416
+ }
417
+ },
418
+ "grasp_23": {
419
+ "confidence": 0.9724490642547607,
420
+ "position": [
421
+ -0.05217044980963692,
422
+ 0.009133675528573804,
423
+ 0.11960931890644133
424
+ ],
425
+ "orientation": {
426
+ "w": 0.1811911427297744,
427
+ "xyz": [
428
+ 0.757639816325201,
429
+ 0.600693263640592,
430
+ 0.1797756422094158
431
+ ]
432
+ }
433
+ },
434
+ "grasp_24": {
435
+ "confidence": 0.9722426533699036,
436
+ "position": [
437
+ -0.05481257470091805,
438
+ 0.015876396020757966,
439
+ 0.1203083845321089
440
+ ],
441
+ "orientation": {
442
+ "w": 0.20397817849893124,
443
+ "xyz": [
444
+ 0.7515938202355926,
445
+ 0.6061397455204695,
446
+ 0.1615371195122244
447
+ ]
448
+ }
449
+ },
450
+ "grasp_25": {
451
+ "confidence": 0.9715114831924438,
452
+ "position": [
453
+ -0.05072997690876946,
454
+ 0.0065977293270407245,
455
+ 0.12310886406339705
456
+ ],
457
+ "orientation": {
458
+ "w": 0.1841584203427089,
459
+ "xyz": [
460
+ 0.7235556429551514,
461
+ 0.6418813523129243,
462
+ 0.17476051418317398
463
+ ]
464
+ }
465
+ },
466
+ "grasp_26": {
467
+ "confidence": 0.9703139662742615,
468
+ "position": [
469
+ -0.05298860924085602,
470
+ -0.0015111857355805114,
471
+ 0.12187251471914351
472
+ ],
473
+ "orientation": {
474
+ "w": 0.16945178135827288,
475
+ "xyz": [
476
+ 0.6571178809881398,
477
+ 0.7071518121682828,
478
+ 0.19854092481722246
479
+ ]
480
+ }
481
+ },
482
+ "grasp_27": {
483
+ "confidence": 0.969953715801239,
484
+ "position": [
485
+ -0.002084908715914935,
486
+ -0.0025601601955713704,
487
+ 0.13155903690494597
488
+ ],
489
+ "orientation": {
490
+ "w": 0.0008099832662340491,
491
+ "xyz": [
492
+ -0.6671319929567014,
493
+ 0.7449339474928716,
494
+ 0.0027679908625727833
495
+ ]
496
+ }
497
+ },
498
+ "grasp_28": {
499
+ "confidence": 0.968778669834137,
500
+ "position": [
501
+ -0.05151407973608002,
502
+ 0.023313451951253228,
503
+ 0.1206123533193022
504
+ ],
505
+ "orientation": {
506
+ "w": 0.21585664909078367,
507
+ "xyz": [
508
+ 0.7947463610641516,
509
+ 0.5484348231246081,
510
+ 0.1449254063401828
511
+ ]
512
+ }
513
+ },
514
+ "grasp_29": {
515
+ "confidence": 0.9685443639755249,
516
+ "position": [
517
+ -0.052905378805007786,
518
+ 0.0031031273974804208,
519
+ 0.1211779045406729
520
+ ],
521
+ "orientation": {
522
+ "w": 0.19045588220447318,
523
+ "xyz": [
524
+ -0.6111628248605504,
525
+ 0.7449233627886921,
526
+ -0.18787161045185968
527
+ ]
528
+ }
529
+ },
530
+ "grasp_30": {
531
+ "confidence": 0.968410849571228,
532
+ "position": [
533
+ -0.05652332486351952,
534
+ 0.0011525715672178194,
535
+ 0.11879574530757964
536
+ ],
537
+ "orientation": {
538
+ "w": 0.17178150052823385,
539
+ "xyz": [
540
+ 0.731186457142351,
541
+ 0.6289235004371134,
542
+ 0.20078025691241042
543
+ ]
544
+ }
545
+ },
546
+ "grasp_31": {
547
+ "confidence": 0.967681884765625,
548
+ "position": [
549
+ -0.05323447467526421,
550
+ -0.003997329229605384,
551
+ 0.12137518846429884
552
+ ],
553
+ "orientation": {
554
+ "w": 0.19767284882722355,
555
+ "xyz": [
556
+ -0.6921258944545193,
557
+ 0.6712321967575438,
558
+ -0.17701561823212872
559
+ ]
560
+ }
561
+ },
562
+ "grasp_32": {
563
+ "confidence": 0.9674695134162903,
564
+ "position": [
565
+ 0.000496169610414654,
566
+ -0.003981366360676475,
567
+ 0.1335450487677008
568
+ ],
569
+ "orientation": {
570
+ "w": 0.00784241692853616,
571
+ "xyz": [
572
+ -0.739271855231543,
573
+ 0.6733115077667237,
574
+ 0.008199638292782512
575
+ ]
576
+ }
577
+ },
578
+ "grasp_33": {
579
+ "confidence": 0.9668417572975159,
580
+ "position": [
581
+ -0.05579666228732094,
582
+ 0.00920908099215012,
583
+ 0.11643394106067717
584
+ ],
585
+ "orientation": {
586
+ "w": 0.1727003905949998,
587
+ "xyz": [
588
+ -0.6302622621050278,
589
+ 0.7301602986507997,
590
+ -0.19952442038197504
591
+ ]
592
+ }
593
+ },
594
+ "grasp_34": {
595
+ "confidence": 0.9660776853561401,
596
+ "position": [
597
+ 0.10351253120461479,
598
+ 0.011813741570222192,
599
+ 0.019795542815700173
600
+ ],
601
+ "orientation": {
602
+ "w": 0.5261476843103192,
603
+ "xyz": [
604
+ 0.5287630381194196,
605
+ -0.4550484096445274,
606
+ -0.48632212441302364
607
+ ]
608
+ }
609
+ },
610
+ "grasp_35": {
611
+ "confidence": 0.9659406542778015,
612
+ "position": [
613
+ -0.050923021452035755,
614
+ -0.006065839974326082,
615
+ 0.11750219040550292
616
+ ],
617
+ "orientation": {
618
+ "w": 0.16282333675505378,
619
+ "xyz": [
620
+ 0.6725993781244942,
621
+ 0.692276767048292,
622
+ 0.20457642913996596
623
+ ]
624
+ }
625
+ },
626
+ "grasp_36": {
627
+ "confidence": 0.9650803804397583,
628
+ "position": [
629
+ -0.0479007083340548,
630
+ 0.022893214991199784,
631
+ 0.11909959488548338
632
+ ],
633
+ "orientation": {
634
+ "w": 0.2151656197565872,
635
+ "xyz": [
636
+ 0.7982660917802173,
637
+ 0.5433537226711629,
638
+ 0.14574544537682987
639
+ ]
640
+ }
641
+ },
642
+ "grasp_37": {
643
+ "confidence": 0.9650700688362122,
644
+ "position": [
645
+ 0.10630176780978218,
646
+ 0.001848450323450379,
647
+ 0.027018400141969323
648
+ ],
649
+ "orientation": {
650
+ "w": 0.49256302883604614,
651
+ "xyz": [
652
+ -0.5016628152975844,
653
+ -0.5208907953456564,
654
+ 0.4841372343620474
655
+ ]
656
+ }
657
+ },
658
+ "grasp_38": {
659
+ "confidence": 0.9640504717826843,
660
+ "position": [
661
+ 0.050368791504297405,
662
+ -0.006477925999206491,
663
+ 0.1204968171659857
664
+ ],
665
+ "orientation": {
666
+ "w": 0.19322164085913104,
667
+ "xyz": [
668
+ -0.7244124241295478,
669
+ -0.6417959090701665,
670
+ 0.16121429332182696
671
+ ]
672
+ }
673
+ }
674
+ }
675
+ },
676
+ {
677
+ "part_name": "top opening rim",
678
+ "mask_color": "Lime Green",
679
+ "graspable": false,
680
+ "grasp_scenarios": [],
681
+ "functional_labels": [
682
+ "guide pencil entry",
683
+ "define sharpening opening",
684
+ "reinforce opening edge"
685
+ ],
686
+ "semantic_description": "Narrow circular ring around the top hole, made of the same translucent light-gray plastic as the cap, with a smooth molded finish and subtle concentric texture.",
687
+ "id": 9,
688
+ "grasp_group": {}
689
+ },
690
+ {
691
+ "part_name": "pencil entry sleeve",
692
+ "mask_color": "Teal",
693
+ "graspable": false,
694
+ "grasp_scenarios": [],
695
+ "functional_labels": [
696
+ "center the pencil",
697
+ "provide insertion passage",
698
+ "help align pencil with the blade"
699
+ ],
700
+ "semantic_description": "Small dark inner ring inside the top opening, recessed at the center and appearing black or very dark gray with a smooth finish.",
701
+ "id": 10,
702
+ "grasp_group": {}
703
+ },
704
+ {
705
+ "part_name": "bottom ring",
706
+ "mask_color": "Cyan",
707
+ "graspable": false,
708
+ "grasp_scenarios": [],
709
+ "functional_labels": [
710
+ "form the lower edge of the body",
711
+ "provide base contact perimeter",
712
+ "finish the lower housing"
713
+ ],
714
+ "semantic_description": "Thin translucent light-gray ring around the lower edge of the cylinder, forming a narrow band near the base.",
715
+ "id": 6,
716
+ "grasp_group": {}
717
+ },
718
+ {
719
+ "part_name": "bottom recess ring",
720
+ "mask_color": "Magenta",
721
+ "graspable": false,
722
+ "grasp_scenarios": [],
723
+ "functional_labels": [
724
+ "define bottom recess",
725
+ "surround the center plug",
726
+ "form underside detailing"
727
+ ],
728
+ "semantic_description": "Circular recessed ring on the underside around the center plug, made of translucent light-gray plastic and visible as an annular molded detail on the base.",
729
+ "id": 7,
730
+ "grasp_group": {}
731
+ },
732
+ {
733
+ "part_name": "bottom center plug",
734
+ "mask_color": "Orange",
735
+ "graspable": false,
736
+ "grasp_scenarios": [],
737
+ "functional_labels": [
738
+ "close the bottom center",
739
+ "finish the underside",
740
+ "cover the central base opening"
741
+ ],
742
+ "semantic_description": "Small circular center plug on the underside, dark gray to black in appearance, with a smooth recessed surface.",
743
+ "id": 4,
744
+ "grasp_group": {}
745
+ },
746
+ {
747
+ "part_name": "blade assembly",
748
+ "mask_color": "Yellow",
749
+ "graspable": false,
750
+ "grasp_scenarios": [],
751
+ "functional_labels": [
752
+ "cut wood and graphite",
753
+ "form the sharpening edge",
754
+ "remove pencil material",
755
+ "enable sharpening"
756
+ ],
757
+ "semantic_description": "Small black side-mounted blade housing with a visible silver screw head, slightly protruding from the cylinder with hard smooth surfaces.",
758
+ "id": 3,
759
+ "grasp_group": {}
760
+ },
761
+ {
762
+ "part_name": "blade screw",
763
+ "mask_color": "Pink",
764
+ "graspable": false,
765
+ "grasp_scenarios": [],
766
+ "functional_labels": [
767
+ "fasten blade",
768
+ "secure cutting assembly",
769
+ "enable maintenance removal"
770
+ ],
771
+ "semantic_description": "Tiny silver metal screw head with a reflective finish, located near the center of the side blade assembly.",
772
+ "id": 8,
773
+ "grasp_group": {}
774
+ }
775
+ ],
776
+ "quality_check": {
777
+ "success": false,
778
+ "message": "Top/body part identities and mask colors are mismatched; blade screw not separately segmented; top collar graspability overstated."
779
+ }
780
+ }
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b39b21e19dc414b4592ed167fca900c53249b8c1547583b0e7017291c8a3f4e9
3
+ size 3795032
dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.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>