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
1690f00
·
verified ·
1 Parent(s): ec2edad

Add asset kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/affordance_annot.json +715 -0
  3. dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7208,3 +7208,4 @@ dataset/kitchen_supplies/tableware/2f921ebe9eb15e1696740c24bf4891c9/affordance/m
7208
  dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7209
  dataset/kitchen_supplies/tableware/310b0000b20253338c793282cecc0907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7210
  dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7208
  dataset/kitchen_supplies/tableware/30fcc01ae5605d13b0d1ee1406c3411d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7209
  dataset/kitchen_supplies/tableware/310b0000b20253338c793282cecc0907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7210
  dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7211
+ dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/affordance_annot.json ADDED
@@ -0,0 +1,715 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle end",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle end to pick up the spoon from a flat surface",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "hold the handle end to manipulate or stir with the spoon",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "pinch near the hanging hole to reorient the spoon",
18
+ "confidence": 0.58
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide a grip area",
23
+ "enable lifting and manipulation",
24
+ "support hanging storage",
25
+ "indicate handle orientation"
26
+ ],
27
+ "semantic_description": "Small orange plastic end section of the spoon handle with a glossy smooth hard surface, rounded elongated shape, and a visible hanging hole at the tip.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_2": {
31
+ "confidence": 0.9749994874000549,
32
+ "position": [
33
+ -0.05015911906957626,
34
+ -0.09263976494548842,
35
+ -0.01228024112060666
36
+ ],
37
+ "orientation": {
38
+ "w": 0.6993818964380308,
39
+ "xyz": [
40
+ -0.4976713201920425,
41
+ -0.3711765248265396,
42
+ -0.3541415076078286
43
+ ]
44
+ }
45
+ },
46
+ "grasp_6": {
47
+ "confidence": 0.9712153077125549,
48
+ "position": [
49
+ -0.09260072559118271,
50
+ -0.09442984143970534,
51
+ 0.01170256920158863
52
+ ],
53
+ "orientation": {
54
+ "w": 0.39618447623483244,
55
+ "xyz": [
56
+ -0.281484815563243,
57
+ 0.6403104031671136,
58
+ 0.5948165658367517
59
+ ]
60
+ }
61
+ },
62
+ "grasp_9": {
63
+ "confidence": 0.9702980518341064,
64
+ "position": [
65
+ -0.05300579220056534,
66
+ -0.0952682105707936,
67
+ -0.018286295235157013
68
+ ],
69
+ "orientation": {
70
+ "w": 0.35924993312348413,
71
+ "xyz": [
72
+ -0.3264600596000616,
73
+ 0.5336874427068597,
74
+ 0.6924890096844201
75
+ ]
76
+ }
77
+ },
78
+ "grasp_10": {
79
+ "confidence": 0.9699848294258118,
80
+ "position": [
81
+ -0.08134615421295166,
82
+ -0.08285398612497374,
83
+ -0.027437642216682434
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7440208905206516,
87
+ "xyz": [
88
+ -0.4642800689783258,
89
+ -0.22873265584672653,
90
+ -0.422561598074932
91
+ ]
92
+ }
93
+ },
94
+ "grasp_13": {
95
+ "confidence": 0.9685668349266052,
96
+ "position": [
97
+ -0.03796955943107605,
98
+ 0.09112353046657518,
99
+ -0.004817111883312464
100
+ ],
101
+ "orientation": {
102
+ "w": 0.723794667835818,
103
+ "xyz": [
104
+ 0.4997645968685218,
105
+ -0.41797647849156183,
106
+ 0.2272714015380607
107
+ ]
108
+ }
109
+ },
110
+ "grasp_15": {
111
+ "confidence": 0.9671294093132019,
112
+ "position": [
113
+ -0.07106465846300125,
114
+ 0.09816958178998902,
115
+ 0.010406414046883583
116
+ ],
117
+ "orientation": {
118
+ "w": 0.333309390082501,
119
+ "xyz": [
120
+ 0.3329066989536704,
121
+ 0.6311493186735656,
122
+ -0.6162211598221006
123
+ ]
124
+ }
125
+ },
126
+ "grasp_17": {
127
+ "confidence": 0.9666373133659363,
128
+ "position": [
129
+ -0.038826875388622284,
130
+ -0.08730680326698348,
131
+ -0.015932499896734953
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7434875351761048,
135
+ "xyz": [
136
+ -0.44766297750481177,
137
+ -0.4057061319341284,
138
+ -0.286751945277333
139
+ ]
140
+ }
141
+ }
142
+ }
143
+ },
144
+ {
145
+ "part_name": "handle shaft",
146
+ "mask_color": "Blue",
147
+ "graspable": true,
148
+ "grasp_scenarios": [
149
+ {
150
+ "scenario": "grasp the handle shaft to lift and carry the spoon",
151
+ "confidence": 0.95
152
+ },
153
+ {
154
+ "scenario": "hold the shaft to scoop or stir food",
155
+ "confidence": 0.93
156
+ },
157
+ {
158
+ "scenario": "grip the shaft to stabilize the spoon during placement",
159
+ "confidence": 0.8
160
+ }
161
+ ],
162
+ "functional_labels": [
163
+ "main grasp surface",
164
+ "connect bowl to handle end",
165
+ "enable reach into containers",
166
+ "provide leverage for scooping"
167
+ ],
168
+ "semantic_description": "Long narrow orange plastic handle section with a glossy smooth hard finish, slightly tapered profile, and central position between the bowl and the hanging end.",
169
+ "id": 2,
170
+ "grasp_group": {
171
+ "grasp_40": {
172
+ "confidence": 0.9720571041107178,
173
+ "position": [
174
+ 0.0027390215545892715,
175
+ 0.093295069236774,
176
+ 0.00895748846232891
177
+ ],
178
+ "orientation": {
179
+ "w": 0.5986706398442009,
180
+ "xyz": [
181
+ 0.5895159364851461,
182
+ -0.4794789572632311,
183
+ 0.25330683993990594
184
+ ]
185
+ }
186
+ },
187
+ "grasp_41": {
188
+ "confidence": 0.9715318083763123,
189
+ "position": [
190
+ -0.020628929138183594,
191
+ -0.09494469891069457,
192
+ -0.01996596623212099
193
+ ],
194
+ "orientation": {
195
+ "w": 0.38225442352078043,
196
+ "xyz": [
197
+ -0.426454504557724,
198
+ 0.47707111887631215,
199
+ 0.6666492771880324
200
+ ]
201
+ }
202
+ },
203
+ "grasp_42": {
204
+ "confidence": 0.971361517906189,
205
+ "position": [
206
+ 0.0020305756479501724,
207
+ 0.0960680337739177,
208
+ -0.0020891111344099045
209
+ ],
210
+ "orientation": {
211
+ "w": 0.27624099660063645,
212
+ "xyz": [
213
+ 0.46423515288351885,
214
+ 0.5519635201717448,
215
+ -0.6352266579921838
216
+ ]
217
+ }
218
+ },
219
+ "grasp_43": {
220
+ "confidence": 0.9707968235015869,
221
+ "position": [
222
+ -0.027228936553001404,
223
+ -0.09384752641199157,
224
+ -0.026906399056315422
225
+ ],
226
+ "orientation": {
227
+ "w": 0.3990299272872449,
228
+ "xyz": [
229
+ -0.3766340580823732,
230
+ 0.47714700009651734,
231
+ 0.6864784364569899
232
+ ]
233
+ }
234
+ },
235
+ "grasp_44": {
236
+ "confidence": 0.9660518765449524,
237
+ "position": [
238
+ -0.02892545983195305,
239
+ -0.09420732985017821,
240
+ -0.025104612112045288
241
+ ],
242
+ "orientation": {
243
+ "w": 0.41018373848564915,
244
+ "xyz": [
245
+ -0.37554452403160665,
246
+ 0.5016708754306006,
247
+ 0.6626024025737497
248
+ ]
249
+ }
250
+ },
251
+ "grasp_45": {
252
+ "confidence": 0.9650556445121765,
253
+ "position": [
254
+ -0.024868007749319077,
255
+ -0.09755028615472838,
256
+ -0.006154424045234919
257
+ ],
258
+ "orientation": {
259
+ "w": 0.6137765455906078,
260
+ "xyz": [
261
+ -0.5431248329041228,
262
+ -0.4394731875979089,
263
+ -0.36763716535228563
264
+ ]
265
+ }
266
+ },
267
+ "grasp_46": {
268
+ "confidence": 0.9633364677429199,
269
+ "position": [
270
+ -0.011194664984941483,
271
+ -0.09623852948425338,
272
+ -0.020829739049077034
273
+ ],
274
+ "orientation": {
275
+ "w": 0.4278780495783917,
276
+ "xyz": [
277
+ -0.42627038607509876,
278
+ 0.4955233007309091,
279
+ 0.6242360059121247
280
+ ]
281
+ }
282
+ },
283
+ "grasp_47": {
284
+ "confidence": 0.9632380604743958,
285
+ "position": [
286
+ -0.022341739386320114,
287
+ -0.09526438842294738,
288
+ -0.019335267134010792
289
+ ],
290
+ "orientation": {
291
+ "w": 0.38788024078290356,
292
+ "xyz": [
293
+ -0.3877462490058896,
294
+ 0.5197968173201821,
295
+ 0.6549908655056715
296
+ ]
297
+ }
298
+ },
299
+ "grasp_48": {
300
+ "confidence": 0.963105320930481,
301
+ "position": [
302
+ -0.038844890892505646,
303
+ -0.09303714166162536,
304
+ -0.02179418969899416
305
+ ],
306
+ "orientation": {
307
+ "w": 0.3888689968685952,
308
+ "xyz": [
309
+ -0.3436699756639537,
310
+ 0.5216941156243405,
311
+ 0.6771315240220965
312
+ ]
313
+ }
314
+ },
315
+ "grasp_49": {
316
+ "confidence": 0.963029146194458,
317
+ "position": [
318
+ 0.018478295765817165,
319
+ 0.09126544167520478,
320
+ -0.009947284241206944
321
+ ],
322
+ "orientation": {
323
+ "w": 0.27336673190384697,
324
+ "xyz": [
325
+ 0.491967423601652,
326
+ 0.49968309856659854,
327
+ -0.6584493032951327
328
+ ]
329
+ }
330
+ },
331
+ "grasp_50": {
332
+ "confidence": 0.9624993205070496,
333
+ "position": [
334
+ -0.042646072804927826,
335
+ -0.09325904230354354,
336
+ -0.024082266725599766
337
+ ],
338
+ "orientation": {
339
+ "w": 0.6748600792613955,
340
+ "xyz": [
341
+ -0.5318488114753303,
342
+ -0.32324215799140155,
343
+ -0.39650374834122737
344
+ ]
345
+ }
346
+ },
347
+ "grasp_51": {
348
+ "confidence": 0.9586513638496399,
349
+ "position": [
350
+ -0.040031664073467255,
351
+ -0.09571744332788512,
352
+ -0.024885669350624084
353
+ ],
354
+ "orientation": {
355
+ "w": 0.6740774838851529,
356
+ "xyz": [
357
+ -0.5327128789247436,
358
+ -0.33180967151614926,
359
+ -0.389536745680196
360
+ ]
361
+ }
362
+ },
363
+ "grasp_52": {
364
+ "confidence": 0.957544207572937,
365
+ "position": [
366
+ -0.028810009360313416,
367
+ -0.09693688730476424,
368
+ -0.01664048945531249
369
+ ],
370
+ "orientation": {
371
+ "w": 0.6295390700273542,
372
+ "xyz": [
373
+ -0.5456700914585089,
374
+ -0.38560461689901204,
375
+ -0.3965271617719562
376
+ ]
377
+ }
378
+ },
379
+ "grasp_53": {
380
+ "confidence": 0.9561180472373962,
381
+ "position": [
382
+ -0.01796065643429756,
383
+ 0.09453281183959916,
384
+ -0.011675710324198008
385
+ ],
386
+ "orientation": {
387
+ "w": 0.35510113469117877,
388
+ "xyz": [
389
+ 0.4391500818454056,
390
+ 0.5196623593762255,
391
+ -0.6410939260387244
392
+ ]
393
+ }
394
+ },
395
+ "grasp_54": {
396
+ "confidence": 0.9558534622192383,
397
+ "position": [
398
+ -0.03178089112043381,
399
+ -0.09519934485433623,
400
+ -0.0236723143607378
401
+ ],
402
+ "orientation": {
403
+ "w": 0.525604667900138,
404
+ "xyz": [
405
+ -0.41980971778850995,
406
+ 0.4759711625535915,
407
+ 0.5665253624943019
408
+ ]
409
+ }
410
+ },
411
+ "grasp_55": {
412
+ "confidence": 0.9532638788223267,
413
+ "position": [
414
+ -0.041383735835552216,
415
+ -0.09579095820663497,
416
+ -0.019808427430689335
417
+ ],
418
+ "orientation": {
419
+ "w": 0.42585161774594255,
420
+ "xyz": [
421
+ -0.3182392773774598,
422
+ 0.5644723356799144,
423
+ 0.6314627021839834
424
+ ]
425
+ }
426
+ },
427
+ "grasp_56": {
428
+ "confidence": 0.951549232006073,
429
+ "position": [
430
+ -0.00962037593126297,
431
+ 0.09773762692930177,
432
+ -0.013826694339513779
433
+ ],
434
+ "orientation": {
435
+ "w": 0.6094724191887678,
436
+ "xyz": [
437
+ 0.5663269760051147,
438
+ -0.40835863611469403,
439
+ 0.37558001918052153
440
+ ]
441
+ }
442
+ },
443
+ "grasp_57": {
444
+ "confidence": 0.9512767791748047,
445
+ "position": [
446
+ -0.007907826453447342,
447
+ -0.08802129904506728,
448
+ -0.027736907824873924
449
+ ],
450
+ "orientation": {
451
+ "w": 0.7400090667863776,
452
+ "xyz": [
453
+ -0.42279408906293875,
454
+ -0.41282539034647714,
455
+ -0.32125836395753665
456
+ ]
457
+ }
458
+ },
459
+ "grasp_58": {
460
+ "confidence": 0.9511328935623169,
461
+ "position": [
462
+ -0.04467169940471649,
463
+ -0.09532701800344512,
464
+ -0.008327207004185766
465
+ ],
466
+ "orientation": {
467
+ "w": 0.38494028955936255,
468
+ "xyz": [
469
+ -0.32642376368090303,
470
+ 0.6010240406452871,
471
+ 0.619708481904807
472
+ ]
473
+ }
474
+ }
475
+ }
476
+ },
477
+ {
478
+ "part_name": "spoon bowl",
479
+ "mask_color": "Green",
480
+ "graspable": true,
481
+ "grasp_scenarios": [
482
+ {
483
+ "scenario": "grasp the bowl to reposition the spoon when the handle is obstructed",
484
+ "confidence": 0.36
485
+ },
486
+ {
487
+ "scenario": "pinch the bowl lightly to stabilize the spoon during handoff or sorting",
488
+ "confidence": 0.31
489
+ }
490
+ ],
491
+ "functional_labels": [
492
+ "hold liquid or soft food",
493
+ "scoop contents",
494
+ "transfer food",
495
+ "contact food during serving"
496
+ ],
497
+ "semantic_description": "Rounded shallow orange plastic spoon bowl with a glossy smooth hard surface, broad oval cup shape, and larger head positioned at the front of the utensil.",
498
+ "id": 1,
499
+ "grasp_group": {
500
+ "grasp_20": {
501
+ "confidence": 0.9779755473136902,
502
+ "position": [
503
+ 0.11873771250247955,
504
+ 0.08861509134294465,
505
+ 0.024973398074507713
506
+ ],
507
+ "orientation": {
508
+ "w": 0.3409756873388578,
509
+ "xyz": [
510
+ 0.7502941497512008,
511
+ 0.36677096777555185,
512
+ -0.4315939372719467
513
+ ]
514
+ }
515
+ },
516
+ "grasp_21": {
517
+ "confidence": 0.9766636490821838,
518
+ "position": [
519
+ 0.11333844065666199,
520
+ 0.09102200885536149,
521
+ 0.013791652396321297
522
+ ],
523
+ "orientation": {
524
+ "w": 0.41826764527139587,
525
+ "xyz": [
526
+ 0.7273000775355439,
527
+ 0.316302746453091,
528
+ -0.44276330778661516
529
+ ]
530
+ }
531
+ },
532
+ "grasp_22": {
533
+ "confidence": 0.9756549596786499,
534
+ "position": [
535
+ 0.09816372394561768,
536
+ 0.10257926752092317,
537
+ 0.012047184631228447
538
+ ],
539
+ "orientation": {
540
+ "w": 0.44569969617473637,
541
+ "xyz": [
542
+ 0.6792626810995737,
543
+ 0.4023969163117279,
544
+ -0.4219368585913997
545
+ ]
546
+ }
547
+ },
548
+ "grasp_25": {
549
+ "confidence": 0.9743790030479431,
550
+ "position": [
551
+ 0.10017425566911697,
552
+ 0.10279771109344438,
553
+ 0.0020139021798968315
554
+ ],
555
+ "orientation": {
556
+ "w": 0.46917423438188777,
557
+ "xyz": [
558
+ 0.6503253663891445,
559
+ 0.3837210453222144,
560
+ -0.45794171572354186
561
+ ]
562
+ }
563
+ },
564
+ "grasp_26": {
565
+ "confidence": 0.9737277626991272,
566
+ "position": [
567
+ 0.10583198070526123,
568
+ 0.0953731777262874,
569
+ 0.01460181176662445
570
+ ],
571
+ "orientation": {
572
+ "w": 0.45861268114921916,
573
+ "xyz": [
574
+ 0.7304598804695766,
575
+ 0.31346624332289685,
576
+ -0.397292947345566
577
+ ]
578
+ }
579
+ },
580
+ "grasp_27": {
581
+ "confidence": 0.9735990166664124,
582
+ "position": [
583
+ 0.0598904974758625,
584
+ 0.10493937303544953,
585
+ 0.016211573034524918
586
+ ],
587
+ "orientation": {
588
+ "w": 0.5134978488530569,
589
+ "xyz": [
590
+ 0.6329349044974081,
591
+ 0.48943122337431955,
592
+ -0.3101135977000317
593
+ ]
594
+ }
595
+ },
596
+ "grasp_28": {
597
+ "confidence": 0.973068118095398,
598
+ "position": [
599
+ 0.07034801691770554,
600
+ 0.10595626552822068,
601
+ -0.00038247741758823395
602
+ ],
603
+ "orientation": {
604
+ "w": 0.5629109736169053,
605
+ "xyz": [
606
+ 0.6179841705093916,
607
+ 0.416120504148498,
608
+ -0.3578694270382512
609
+ ]
610
+ }
611
+ },
612
+ "grasp_30": {
613
+ "confidence": 0.9716196060180664,
614
+ "position": [
615
+ 0.09851763397455215,
616
+ 0.0961549895000644,
617
+ 0.020492609590291977
618
+ ],
619
+ "orientation": {
620
+ "w": 0.4550154659611494,
621
+ "xyz": [
622
+ 0.7240839400006543,
623
+ 0.3663824760235339,
624
+ -0.36664322553696715
625
+ ]
626
+ }
627
+ },
628
+ "grasp_31": {
629
+ "confidence": 0.9715549945831299,
630
+ "position": [
631
+ 0.04096593149006367,
632
+ 0.0956415178370662,
633
+ 0.03156394325196743
634
+ ],
635
+ "orientation": {
636
+ "w": 0.4727191079540097,
637
+ "xyz": [
638
+ 0.6282999350589051,
639
+ 0.56922823831795,
640
+ -0.24032280225060534
641
+ ]
642
+ }
643
+ },
644
+ "grasp_32": {
645
+ "confidence": 0.9712841510772705,
646
+ "position": [
647
+ 0.1655915379524231,
648
+ -0.03280388395069167,
649
+ 0.01782233826816082
650
+ ],
651
+ "orientation": {
652
+ "w": 0.5430528209300064,
653
+ "xyz": [
654
+ -0.02317423159573038,
655
+ -0.8191609703124803,
656
+ -0.1831171575429952
657
+ ]
658
+ }
659
+ },
660
+ "grasp_35": {
661
+ "confidence": 0.9707410335540771,
662
+ "position": [
663
+ 0.1287635713815689,
664
+ 0.0798438431811519,
665
+ 0.026040995493531227
666
+ ],
667
+ "orientation": {
668
+ "w": 0.2795855798622937,
669
+ "xyz": [
670
+ 0.7532715934154887,
671
+ 0.3667173774910957,
672
+ -0.4689692688571489
673
+ ]
674
+ }
675
+ },
676
+ "grasp_36": {
677
+ "confidence": 0.9700711965560913,
678
+ "position": [
679
+ 0.11483075469732285,
680
+ 0.09555491228820756,
681
+ 0.012495288625359535
682
+ ],
683
+ "orientation": {
684
+ "w": 0.46782302108513313,
685
+ "xyz": [
686
+ 0.7291956452508986,
687
+ 0.2731747717673656,
688
+ -0.418079987514055
689
+ ]
690
+ }
691
+ },
692
+ "grasp_38": {
693
+ "confidence": 0.9695825576782227,
694
+ "position": [
695
+ 0.16018180549144745,
696
+ -0.05087084154365584,
697
+ 0.011462526395916939
698
+ ],
699
+ "orientation": {
700
+ "w": 0.21138492265740355,
701
+ "xyz": [
702
+ -0.7880190797255152,
703
+ 0.1427795575679912,
704
+ 0.5603180725287774
705
+ ]
706
+ }
707
+ }
708
+ }
709
+ }
710
+ ],
711
+ "quality_check": {
712
+ "success": true,
713
+ "message": "YES"
714
+ }
715
+ }
dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eac73ac2b9d103c395b475debe1d3674a84aedb5ce36aca45ff6ae9142726a35
3
+ size 769644