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
40c2392
·
verified ·
1 Parent(s): 8e9c3d0

Add asset desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/affordance_annot.json +791 -0
  3. dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6112,4 +6112,4 @@ dataset/desktop_supplies/decorations/49188a1b75735ac79bb0c396ac871943/affordance
6112
  dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6113
  dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6114
  dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6115
- dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6112
  dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6113
  dataset/desktop_supplies/decorations/4bf232b3bcfd55ffa7b26ff156f50ad2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6114
  dataset/desktop_supplies/decorations/4bbdd8c7e6c553f597dcf27265656b18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6115
+ dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,791 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pawn head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rounded head to pick up the chess pawn",
10
+ "confidence": 0.63
11
+ },
12
+ {
13
+ "scenario": "pinch the head to reposition the pawn on the board",
14
+ "confidence": 0.69
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide a top grip point",
19
+ "identify the pawn piece",
20
+ "indicate upright orientation"
21
+ ],
22
+ "semantic_description": "Small rounded spherical top in metallic gold, with a glossy reflective finish, hard smooth texture, and no visible markings, positioned at the very top of the pawn.",
23
+ "id": 0,
24
+ "grasp_group": {
25
+ "grasp_1": {
26
+ "confidence": 0.9838185906410217,
27
+ "position": [
28
+ 0.0057448661827947944,
29
+ -0.014344363560667261,
30
+ 0.13264960050582886
31
+ ],
32
+ "orientation": {
33
+ "w": 0.03758708873811964,
34
+ "xyz": [
35
+ 0.0290567220836612,
36
+ -0.9977390957601624,
37
+ -0.04753540210872948
38
+ ]
39
+ }
40
+ },
41
+ "grasp_2": {
42
+ "confidence": 0.983668863773346,
43
+ "position": [
44
+ 0.00842741466476582,
45
+ -0.034300806088140234,
46
+ 0.12726683914661407
47
+ ],
48
+ "orientation": {
49
+ "w": 0.17194921746645359,
50
+ "xyz": [
51
+ -0.9603780653420675,
52
+ -0.21931650162002558,
53
+ 0.0027767498365912032
54
+ ]
55
+ }
56
+ },
57
+ "grasp_5": {
58
+ "confidence": 0.9835211038589478,
59
+ "position": [
60
+ 0.05976232103421353,
61
+ -0.07073223785846494,
62
+ 0.07628830522298813
63
+ ],
64
+ "orientation": {
65
+ "w": 0.13650763960990875,
66
+ "xyz": [
67
+ 0.4002110073802021,
68
+ -0.7494731995009489,
69
+ -0.5093984070741353
70
+ ]
71
+ }
72
+ },
73
+ "grasp_6": {
74
+ "confidence": 0.983463704586029,
75
+ "position": [
76
+ 0.05014624408795498,
77
+ -0.0858121384808328,
78
+ 0.024047188460826874
79
+ ],
80
+ "orientation": {
81
+ "w": 0.7007905118947133,
82
+ "xyz": [
83
+ -0.6615486782772407,
84
+ -0.22418234063326237,
85
+ 0.1448733338339858
86
+ ]
87
+ }
88
+ },
89
+ "grasp_7": {
90
+ "confidence": 0.9833731651306152,
91
+ "position": [
92
+ 0.04268329925253056,
93
+ -0.030708639038493857,
94
+ 0.11979320645332336
95
+ ],
96
+ "orientation": {
97
+ "w": 0.14390054663429647,
98
+ "xyz": [
99
+ 0.4089893412060244,
100
+ -0.8715294551952129,
101
+ -0.22903440830003555
102
+ ]
103
+ }
104
+ },
105
+ "grasp_8": {
106
+ "confidence": 0.9832102060317993,
107
+ "position": [
108
+ 0.027999722951790318,
109
+ -0.03778052525012754,
110
+ 0.1224331259727478
111
+ ],
112
+ "orientation": {
113
+ "w": 0.23777138391983127,
114
+ "xyz": [
115
+ -0.8703113668892563,
116
+ -0.4289046586225724,
117
+ 0.04542782697925554
118
+ ]
119
+ }
120
+ },
121
+ "grasp_11": {
122
+ "confidence": 0.9830495715141296,
123
+ "position": [
124
+ -0.07410258465097286,
125
+ 0.04327368168742396,
126
+ 0.08263591676950455
127
+ ],
128
+ "orientation": {
129
+ "w": 0.2458279901532753,
130
+ "xyz": [
131
+ -0.41973606493215704,
132
+ 0.7664186151343212,
133
+ -0.4195148882078665
134
+ ]
135
+ }
136
+ },
137
+ "grasp_12": {
138
+ "confidence": 0.9830272793769836,
139
+ "position": [
140
+ 0.03548822141601704,
141
+ -0.035750245762756094,
142
+ 0.12109397351741791
143
+ ],
144
+ "orientation": {
145
+ "w": 0.2313071440656185,
146
+ "xyz": [
147
+ -0.8929485057120786,
148
+ -0.36992770347723053,
149
+ 0.11087590112750279
150
+ ]
151
+ }
152
+ },
153
+ "grasp_14": {
154
+ "confidence": 0.9829617142677307,
155
+ "position": [
156
+ 0.0047126343415584415,
157
+ -0.008835189131787047,
158
+ 0.13517041504383087
159
+ ],
160
+ "orientation": {
161
+ "w": 0.0317115795172759,
162
+ "xyz": [
163
+ 0.14620309009475357,
164
+ -0.9883079186180671,
165
+ -0.02943620505583181
166
+ ]
167
+ }
168
+ },
169
+ "grasp_15": {
170
+ "confidence": 0.9829181432723999,
171
+ "position": [
172
+ -0.07260730527923442,
173
+ 0.05225572540075518,
174
+ 0.08268231898546219
175
+ ],
176
+ "orientation": {
177
+ "w": 0.22925882977953457,
178
+ "xyz": [
179
+ -0.379442569511355,
180
+ 0.7753028431559805,
181
+ -0.4498546729833895
182
+ ]
183
+ }
184
+ },
185
+ "grasp_16": {
186
+ "confidence": 0.9827467203140259,
187
+ "position": [
188
+ 0.02778956069960259,
189
+ -0.03897664145915769,
190
+ 0.1223108172416687
191
+ ],
192
+ "orientation": {
193
+ "w": 0.08360481453052268,
194
+ "xyz": [
195
+ 0.3298805080472287,
196
+ -0.9107732212433685,
197
+ -0.2338401694829135
198
+ ]
199
+ }
200
+ },
201
+ "grasp_17": {
202
+ "confidence": 0.9826532602310181,
203
+ "position": [
204
+ -0.04946660660789348,
205
+ -0.008614114572992548,
206
+ 0.12054215371608734
207
+ ],
208
+ "orientation": {
209
+ "w": 0.1867126817862792,
210
+ "xyz": [
211
+ -0.7351366288135971,
212
+ 0.6323456128758803,
213
+ -0.15764370369089575
214
+ ]
215
+ }
216
+ },
217
+ "grasp_18": {
218
+ "confidence": 0.9826189279556274,
219
+ "position": [
220
+ -0.07057404183433391,
221
+ 0.05073823957354762,
222
+ 0.08604171127080917
223
+ ],
224
+ "orientation": {
225
+ "w": 0.21269144949587068,
226
+ "xyz": [
227
+ -0.39862766812061146,
228
+ 0.7730583636167794,
229
+ -0.44524049227604706
230
+ ]
231
+ }
232
+ }
233
+ }
234
+ },
235
+ {
236
+ "part_name": "neck ring",
237
+ "mask_color": "Yellow",
238
+ "graspable": false,
239
+ "grasp_scenarios": [],
240
+ "functional_labels": [
241
+ "transition between head and body",
242
+ "provide decorative contour",
243
+ "help define pawn silhouette"
244
+ ],
245
+ "semantic_description": "Thin circular collar below the head in metallic gold, with a glossy reflective finish, hard smooth texture, and a narrow band shape around the upper neck.",
246
+ "id": 3,
247
+ "grasp_group": {}
248
+ },
249
+ {
250
+ "part_name": "pawn body",
251
+ "mask_color": "Blue",
252
+ "graspable": true,
253
+ "grasp_scenarios": [
254
+ {
255
+ "scenario": "grasp the central body to lift the chess pawn securely",
256
+ "confidence": 0.87
257
+ },
258
+ {
259
+ "scenario": "hold the tapered body to stabilize the piece during placement",
260
+ "confidence": 0.82
261
+ }
262
+ ],
263
+ "functional_labels": [
264
+ "main grasp surface",
265
+ "support the top ornament",
266
+ "form the main structure"
267
+ ],
268
+ "semantic_description": "Medium-sized tapered central section in metallic gold, with a glossy reflective finish, hard smooth texture, and a gently flared cylindrical shape between the neck and base.",
269
+ "id": 2,
270
+ "grasp_group": {
271
+ "grasp_40": {
272
+ "confidence": 0.9417631030082703,
273
+ "position": [
274
+ -0.09652425014064647,
275
+ -0.037715697748353705,
276
+ -0.0002526724711060524
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5949679652098123,
280
+ "xyz": [
281
+ -0.5735117152229918,
282
+ 0.41202370750909123,
283
+ -0.3838409792173583
284
+ ]
285
+ }
286
+ },
287
+ "grasp_41": {
288
+ "confidence": 0.9390597939491272,
289
+ "position": [
290
+ 0.10144082046463154,
291
+ 4.361491301096976e-05,
292
+ 0.0011488115414977074
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5140871457365453,
296
+ "xyz": [
297
+ -0.4884572752499369,
298
+ -0.5113816353922473,
299
+ 0.4853995465875615
300
+ ]
301
+ }
302
+ },
303
+ "grasp_42": {
304
+ "confidence": 0.9273430705070496,
305
+ "position": [
306
+ -0.09832341634319164,
307
+ -0.022721149114659056,
308
+ 0.00017801858484745026
309
+ ],
310
+ "orientation": {
311
+ "w": 0.44253468861813683,
312
+ "xyz": [
313
+ 0.4439529966588493,
314
+ 0.5442313507166662,
315
+ 0.5575670569755614
316
+ ]
317
+ }
318
+ },
319
+ "grasp_43": {
320
+ "confidence": 0.9181441068649292,
321
+ "position": [
322
+ -0.026682023337343708,
323
+ -0.10076172844856046,
324
+ 0.006689537316560745
325
+ ],
326
+ "orientation": {
327
+ "w": 0.09807669554560326,
328
+ "xyz": [
329
+ 0.12108521420364492,
330
+ 0.7160919217892194,
331
+ 0.6803908378574297
332
+ ]
333
+ }
334
+ },
335
+ "grasp_46": {
336
+ "confidence": 0.9107096195220947,
337
+ "position": [
338
+ -0.015612198418239132,
339
+ -0.09913123594014905,
340
+ 0.001638304442167282
341
+ ],
342
+ "orientation": {
343
+ "w": 0.6975745388454856,
344
+ "xyz": [
345
+ -0.7121297050441276,
346
+ 0.02864073718158866,
347
+ -0.07376146773192169
348
+ ]
349
+ }
350
+ },
351
+ "grasp_48": {
352
+ "confidence": 0.9029830694198608,
353
+ "position": [
354
+ 0.014497518161078915,
355
+ -0.1027738694974687,
356
+ 0.0006180619820952415
357
+ ],
358
+ "orientation": {
359
+ "w": 0.6844816218462879,
360
+ "xyz": [
361
+ -0.7252534085919288,
362
+ -0.046002917354910244,
363
+ 0.058104511660465874
364
+ ]
365
+ }
366
+ },
367
+ "grasp_49": {
368
+ "confidence": 0.8920289278030396,
369
+ "position": [
370
+ 0.06696072555496357,
371
+ -0.0740774069854524,
372
+ 0.0017276527360081673
373
+ ],
374
+ "orientation": {
375
+ "w": 0.6673954407121292,
376
+ "xyz": [
377
+ -0.6407743924220614,
378
+ -0.3341395981486176,
379
+ 0.17983946363877124
380
+ ]
381
+ }
382
+ },
383
+ "grasp_52": {
384
+ "confidence": 0.8890243768692017,
385
+ "position": [
386
+ -0.02657627352164127,
387
+ -0.09531625555246137,
388
+ -0.005780816893093288
389
+ ],
390
+ "orientation": {
391
+ "w": 0.7239115168550323,
392
+ "xyz": [
393
+ -0.6768378216317286,
394
+ 0.09527724543514682,
395
+ -0.09362118070048632
396
+ ]
397
+ }
398
+ },
399
+ "grasp_54": {
400
+ "confidence": 0.8862307071685791,
401
+ "position": [
402
+ -0.06965338104055263,
403
+ -0.07180334077565931,
404
+ 0.02247079461812973
405
+ ],
406
+ "orientation": {
407
+ "w": 0.17845734450756182,
408
+ "xyz": [
409
+ 0.3759433559744737,
410
+ 0.7028447661802364,
411
+ 0.5769131684603919
412
+ ]
413
+ }
414
+ },
415
+ "grasp_59": {
416
+ "confidence": 0.8773293495178223,
417
+ "position": [
418
+ -0.06996974014327861,
419
+ 0.07562374128610827,
420
+ -1.5350989997386932e-05
421
+ ],
422
+ "orientation": {
423
+ "w": 0.2616198501643394,
424
+ "xyz": [
425
+ -0.2584290821072953,
426
+ 0.6569777973214715,
427
+ -0.658141046697284
428
+ ]
429
+ }
430
+ }
431
+ }
432
+ },
433
+ {
434
+ "part_name": "upper base rim",
435
+ "mask_color": "Purple",
436
+ "graspable": true,
437
+ "grasp_scenarios": [
438
+ {
439
+ "scenario": "grasp around the upper base rim to pick up the pawn from the side",
440
+ "confidence": 0.58
441
+ },
442
+ {
443
+ "scenario": "use the rim for a low side hold while sliding or repositioning the piece",
444
+ "confidence": 0.54
445
+ }
446
+ ],
447
+ "functional_labels": [
448
+ "support lower structure",
449
+ "stabilize the piece",
450
+ "provide a wider contact band"
451
+ ],
452
+ "semantic_description": "Raised circular band above the bottom edge in metallic gold, with a glossy reflective finish, hard smooth texture, and a ring-shaped profile around the lower body.",
453
+ "id": 5,
454
+ "grasp_group": {
455
+ "grasp_60": {
456
+ "confidence": 0.6962205171585083,
457
+ "position": [
458
+ -0.05784641616628505,
459
+ -0.08872007773607038,
460
+ -0.05152377113699913
461
+ ],
462
+ "orientation": {
463
+ "w": 0.7278923198199592,
464
+ "xyz": [
465
+ -0.622950194019455,
466
+ 0.1925545384292131,
467
+ -0.21219937853008428
468
+ ]
469
+ }
470
+ },
471
+ "grasp_61": {
472
+ "confidence": 0.6795705556869507,
473
+ "position": [
474
+ 0.0814107391925063,
475
+ 0.07446094407350756,
476
+ -0.04728888347744942
477
+ ],
478
+ "orientation": {
479
+ "w": 0.28217240041461306,
480
+ "xyz": [
481
+ -0.2887729513491878,
482
+ -0.6074512020917581,
483
+ 0.6840993758881915
484
+ ]
485
+ }
486
+ },
487
+ "grasp_62": {
488
+ "confidence": 0.6468907594680786,
489
+ "position": [
490
+ -0.08335693590925075,
491
+ 0.06572757466346957,
492
+ -0.04507248476147652
493
+ ],
494
+ "orientation": {
495
+ "w": 0.6679669897433714,
496
+ "xyz": [
497
+ 0.6002229772147729,
498
+ 0.3127796553337271,
499
+ 0.3093886963771102
500
+ ]
501
+ }
502
+ },
503
+ "grasp_64": {
504
+ "confidence": 0.6287826299667358,
505
+ "position": [
506
+ 0.07725981212570332,
507
+ -0.07866151080816053,
508
+ -0.036806922405958176
509
+ ],
510
+ "orientation": {
511
+ "w": 0.6442106156240833,
512
+ "xyz": [
513
+ -0.6547932813640192,
514
+ -0.2618214737897916,
515
+ 0.29612152447993584
516
+ ]
517
+ }
518
+ },
519
+ "grasp_65": {
520
+ "confidence": 0.6207133531570435,
521
+ "position": [
522
+ -0.0927012529282365,
523
+ 0.05671676425845362,
524
+ -0.04751511290669441
525
+ ],
526
+ "orientation": {
527
+ "w": 0.6424355219348141,
528
+ "xyz": [
529
+ 0.5898838146662335,
530
+ 0.3214140120805071,
531
+ 0.36879088680371025
532
+ ]
533
+ }
534
+ },
535
+ "grasp_66": {
536
+ "confidence": 0.5927873849868774,
537
+ "position": [
538
+ 0.05026481635286473,
539
+ -0.09537497357814573,
540
+ -0.04574323818087578
541
+ ],
542
+ "orientation": {
543
+ "w": 0.7036452779170852,
544
+ "xyz": [
545
+ -0.6628060727741919,
546
+ -0.12473842737438945,
547
+ 0.2236330867622328
548
+ ]
549
+ }
550
+ },
551
+ "grasp_67": {
552
+ "confidence": 0.5893731713294983,
553
+ "position": [
554
+ -0.08438852839753963,
555
+ -0.0696276669332292,
556
+ -0.03968556225299835
557
+ ],
558
+ "orientation": {
559
+ "w": 0.29289079406530283,
560
+ "xyz": [
561
+ 0.32446972548243536,
562
+ 0.6175176326771609,
563
+ 0.6539161668975193
564
+ ]
565
+ }
566
+ },
567
+ "grasp_68": {
568
+ "confidence": 0.5586881041526794,
569
+ "position": [
570
+ -0.10293783657834865,
571
+ -0.0037998103944119066,
572
+ -0.04954657331109047
573
+ ],
574
+ "orientation": {
575
+ "w": 0.5509265458074989,
576
+ "xyz": [
577
+ -0.4635437966269076,
578
+ 0.46501550872826103,
579
+ -0.515138492422695
580
+ ]
581
+ }
582
+ },
583
+ "grasp_69": {
584
+ "confidence": 0.5416642427444458,
585
+ "position": [
586
+ 0.10788577384664677,
587
+ 0.02675567558617331,
588
+ -0.0396476574242115
589
+ ],
590
+ "orientation": {
591
+ "w": 0.5583779656860167,
592
+ "xyz": [
593
+ 0.5538618894660824,
594
+ -0.411558011168516,
595
+ -0.4605117352211797
596
+ ]
597
+ }
598
+ },
599
+ "grasp_71": {
600
+ "confidence": 0.516197681427002,
601
+ "position": [
602
+ 0.09777352548553608,
603
+ 0.05961594163090922,
604
+ -0.04080555960536003
605
+ ],
606
+ "orientation": {
607
+ "w": 0.3334889048873836,
608
+ "xyz": [
609
+ -0.35659350341172946,
610
+ -0.5946548528941854,
611
+ 0.6387580367955906
612
+ ]
613
+ }
614
+ },
615
+ "grasp_72": {
616
+ "confidence": 0.334540992975235,
617
+ "position": [
618
+ -0.09859651737497188,
619
+ 0.01193336202413775,
620
+ -0.05093339830636978
621
+ ],
622
+ "orientation": {
623
+ "w": 0.5834439646664253,
624
+ "xyz": [
625
+ 0.49583175295150583,
626
+ 0.42610109825771225,
627
+ 0.4818525364911255
628
+ ]
629
+ }
630
+ },
631
+ "grasp_75": {
632
+ "confidence": 0.556506872177124,
633
+ "position": [
634
+ -0.08020799272344448,
635
+ 0.06210864512831904,
636
+ -0.036560023203492165
637
+ ],
638
+ "orientation": {
639
+ "w": 0.2996641187287828,
640
+ "xyz": [
641
+ -0.321267307575557,
642
+ 0.6216274616115611,
643
+ -0.6485121679660464
644
+ ]
645
+ }
646
+ },
647
+ "grasp_77": {
648
+ "confidence": 0.500652015209198,
649
+ "position": [
650
+ 0.10478110201074742,
651
+ 0.029030090110609308,
652
+ -0.03935866430401802
653
+ ],
654
+ "orientation": {
655
+ "w": 0.3969537932953215,
656
+ "xyz": [
657
+ -0.4605439488762279,
658
+ -0.5244984718798534,
659
+ 0.5960103272072091
660
+ ]
661
+ }
662
+ }
663
+ }
664
+ },
665
+ {
666
+ "part_name": "bottom base",
667
+ "mask_color": "Green",
668
+ "graspable": true,
669
+ "grasp_scenarios": [
670
+ {
671
+ "scenario": "grasp the wide bottom base to lift the pawn when approaching from the side",
672
+ "confidence": 0.76
673
+ },
674
+ {
675
+ "scenario": "hold the base to place the pawn accurately on a square",
676
+ "confidence": 0.72
677
+ }
678
+ ],
679
+ "functional_labels": [
680
+ "support standing",
681
+ "provide stability",
682
+ "contact the board",
683
+ "form the footprint"
684
+ ],
685
+ "semantic_description": "Wide circular bottom base in metallic gold, with a glossy reflective finish, hard smooth texture, and a broad ring-like shape forming the pawn's lowest supporting section.",
686
+ "id": 1,
687
+ "grasp_group": {
688
+ "grasp_23": {
689
+ "confidence": 0.6032733917236328,
690
+ "position": [
691
+ 0.03878031633212231,
692
+ -0.07292945132940076,
693
+ -0.1118726134300232
694
+ ],
695
+ "orientation": {
696
+ "w": 0.8773606878572625,
697
+ "xyz": [
698
+ -0.381567742037306,
699
+ -0.07929235805049606,
700
+ 0.2799232101737459
701
+ ]
702
+ }
703
+ },
704
+ "grasp_26": {
705
+ "confidence": 0.47134605050086975,
706
+ "position": [
707
+ 0.0769975516886916,
708
+ 0.04353097631246783,
709
+ -0.1052447110414505
710
+ ],
711
+ "orientation": {
712
+ "w": 0.43338070880943996,
713
+ "xyz": [
714
+ -0.23938136685792993,
715
+ -0.36295720465596093,
716
+ 0.7893920382302999
717
+ ]
718
+ }
719
+ },
720
+ "grasp_28": {
721
+ "confidence": 0.3897678852081299,
722
+ "position": [
723
+ -0.08301949911401607,
724
+ 0.019240857945987955,
725
+ -0.1092563271522522
726
+ ],
727
+ "orientation": {
728
+ "w": 0.6106759634280052,
729
+ "xyz": [
730
+ -0.23777878879793507,
731
+ 0.3492193556617633,
732
+ -0.6697626123636997
733
+ ]
734
+ }
735
+ },
736
+ "grasp_33": {
737
+ "confidence": 0.6246357560157776,
738
+ "position": [
739
+ -0.039813474199036136,
740
+ -0.07787096695392393,
741
+ -0.09507548809051514
742
+ ],
743
+ "orientation": {
744
+ "w": 0.8528622094406516,
745
+ "xyz": [
746
+ -0.4647516883429619,
747
+ 0.1297226865549599,
748
+ -0.19950925914187534
749
+ ]
750
+ }
751
+ },
752
+ "grasp_35": {
753
+ "confidence": 0.6089949607849121,
754
+ "position": [
755
+ -0.06099519916460849,
756
+ -0.05994352893321775,
757
+ -0.10116645693778992
758
+ ],
759
+ "orientation": {
760
+ "w": 0.36838122021300423,
761
+ "xyz": [
762
+ 0.1817057835628118,
763
+ 0.41407047531921537,
764
+ 0.8122954673535497
765
+ ]
766
+ }
767
+ },
768
+ "grasp_36": {
769
+ "confidence": 0.603421688079834,
770
+ "position": [
771
+ 0.07535443044616841,
772
+ 0.06838704450638033,
773
+ -0.07840316742658615
774
+ ],
775
+ "orientation": {
776
+ "w": 0.31843383647682644,
777
+ "xyz": [
778
+ -0.2474639943616911,
779
+ -0.5018352139650811,
780
+ 0.7651946688953261
781
+ ]
782
+ }
783
+ }
784
+ }
785
+ }
786
+ ],
787
+ "quality_check": {
788
+ "success": true,
789
+ "message": "YES"
790
+ }
791
+ }
dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef8fce981ea6c84d9456594e156f3278b1ed8303c6bceea76afa66c07cbe44cd
3
+ size 1620544