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
6d51d05
·
verified ·
1 Parent(s): cfd644e

Add asset desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/affordance_annot.json +750 -0
  3. dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/earbud_case_006.urdf +1 -0
.gitattributes CHANGED
@@ -8138,3 +8138,4 @@ dataset/desktop_supplies/electronic_accessories/d8734034e0845e79b295d64ca91f3b2b
8138
  dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8139
  dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8140
  dataset/desktop_supplies/electronic_accessories/ddaf6351a416534ead5ecd29c73d37a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8138
  dataset/desktop_supplies/electronic_accessories/da2e0a1dac005da582ac59264e669a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8139
  dataset/desktop_supplies/electronic_accessories/dcff16468a9851619c5fe339eb54d116/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8140
  dataset/desktop_supplies/electronic_accessories/ddaf6351a416534ead5ecd29c73d37a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8141
+ dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,750 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lid edge to flip open the earbud case",
10
+ "confidence": 0.8
11
+ },
12
+ {
13
+ "scenario": "lightly hold the top half while repositioning the closed case",
14
+ "confidence": 0.52
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the earbuds compartment",
19
+ "open and close access to earbuds",
20
+ "protect contents",
21
+ "form the upper shell"
22
+ ],
23
+ "semantic_description": "A rounded pale mint-green plastic top shell with a smooth matte finish and white printed OPPO logo on the exterior, forming the upper half of the case.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9105247259140015,
28
+ "position": [
29
+ 0.09820595188284642,
30
+ 0.008923427114496008,
31
+ 0.03198818932287395
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4478744754416191,
35
+ "xyz": [
36
+ 0.5754541539461986,
37
+ -0.5475934318459438,
38
+ -0.4103686200882576
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9076535701751709,
44
+ "position": [
45
+ 0.09928457243586308,
46
+ 0.005432117643067613,
47
+ 0.025779544143006206
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4596376117846476,
51
+ "xyz": [
52
+ 0.5554917029555665,
53
+ -0.5406527673524185,
54
+ -0.43342452507282286
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9018748998641968,
60
+ "position": [
61
+ 0.0059366686291468795,
62
+ -0.10067660183995031,
63
+ 0.003048723330721259
64
+ ],
65
+ "orientation": {
66
+ "w": 0.7187475740121233,
67
+ "xyz": [
68
+ -0.6919804143405708,
69
+ -0.06466251467412276,
70
+ -0.01959056448290592
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.878587007522583,
76
+ "position": [
77
+ 0.008217732331104344,
78
+ 0.10594687043339945,
79
+ 0.005939924856647849
80
+ ],
81
+ "orientation": {
82
+ "w": 0.7061112923342361,
83
+ "xyz": [
84
+ 0.7047848961766178,
85
+ -0.06614892026160535,
86
+ 0.01759014802702609
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.8709850907325745,
92
+ "position": [
93
+ 0.09291692627812154,
94
+ 0.009851369919488207,
95
+ 0.02043246361427009
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4550029477005113,
99
+ "xyz": [
100
+ 0.5930827728591165,
101
+ -0.4606141737169057,
102
+ -0.4786018440130377
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.8643563985824585,
108
+ "position": [
109
+ 0.008052302433497971,
110
+ -0.0942633208760526,
111
+ 0.010817482834681869
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6889828911174753,
115
+ "xyz": [
116
+ -0.721951988981472,
117
+ -0.06392140375254496,
118
+ 0.0013983902910273955
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.8487904667854309,
124
+ "position": [
125
+ 0.008221954016335076,
126
+ 0.08205215810448863,
127
+ 0.059095778269693255
128
+ ],
129
+ "orientation": {
130
+ "w": 0.4778707528943154,
131
+ "xyz": [
132
+ 0.873930972370815,
133
+ 0.06360490397797214,
134
+ -0.06195655937166798
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.8447137475013733,
140
+ "position": [
141
+ 0.10025441451216466,
142
+ 0.010079957457492128,
143
+ 0.027586620999500155
144
+ ],
145
+ "orientation": {
146
+ "w": 0.4604844576777459,
147
+ "xyz": [
148
+ 0.577669193090843,
149
+ -0.5155760080939564,
150
+ -0.4340895615756124
151
+ ]
152
+ }
153
+ },
154
+ "grasp_9": {
155
+ "confidence": 0.9471150040626526,
156
+ "position": [
157
+ 0.09606677843476064,
158
+ 0.007294621696928516,
159
+ 0.01695363107137382
160
+ ],
161
+ "orientation": {
162
+ "w": 0.4774803019598431,
163
+ "xyz": [
164
+ 0.560333414109585,
165
+ -0.49873553723812647,
166
+ -0.45749523513194196
167
+ ]
168
+ }
169
+ },
170
+ "grasp_10": {
171
+ "confidence": 0.9115654230117798,
172
+ "position": [
173
+ -0.1050095875725674,
174
+ -0.00185664658783935,
175
+ 0.010613306192681193
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4831318908676362,
179
+ "xyz": [
180
+ -0.5208014274780156,
181
+ 0.5090483954269156,
182
+ -0.4860238474363236
183
+ ]
184
+ }
185
+ },
186
+ "grasp_11": {
187
+ "confidence": 0.9047369360923767,
188
+ "position": [
189
+ 0.10149530871058232,
190
+ -5.365576362237334e-05,
191
+ 0.03171110595576465
192
+ ],
193
+ "orientation": {
194
+ "w": 0.4375646962243256,
195
+ "xyz": [
196
+ -0.5377883652889356,
197
+ -0.5825086284538461,
198
+ 0.4242693820614296
199
+ ]
200
+ }
201
+ },
202
+ "grasp_12": {
203
+ "confidence": 0.8854724168777466,
204
+ "position": [
205
+ -0.004265456551365787,
206
+ 0.09233390717417933,
207
+ 0.05219800095073879
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5120412871707476,
211
+ "xyz": [
212
+ 0.8570507250457865,
213
+ -0.042904759070923504,
214
+ 0.03790721013318113
215
+ ]
216
+ }
217
+ },
218
+ "grasp_13": {
219
+ "confidence": 0.8373623490333557,
220
+ "position": [
221
+ -0.015335643754951889,
222
+ 0.08839374213130213,
223
+ 0.05502218077890575
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5079433024608204,
227
+ "xyz": [
228
+ 0.858957799989409,
229
+ 0.0012511117899249857,
230
+ 0.06468024460249845
231
+ ]
232
+ }
233
+ },
234
+ "grasp_14": {
235
+ "confidence": 0.8249930739402771,
236
+ "position": [
237
+ -0.02664691218888038,
238
+ 0.085251727985451,
239
+ 0.05581319774501026
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5024365504170429,
243
+ "xyz": [
244
+ 0.8584566045125027,
245
+ 0.03833872193185894,
246
+ 0.09560289417438447
247
+ ]
248
+ }
249
+ },
250
+ "grasp_15": {
251
+ "confidence": 0.7979574799537659,
252
+ "position": [
253
+ 0.014781778587348526,
254
+ 0.08231206415803172,
255
+ 0.049741097493097186
256
+ ],
257
+ "orientation": {
258
+ "w": 0.5211116151599521,
259
+ "xyz": [
260
+ 0.849779996896749,
261
+ -0.05725781859898238,
262
+ -0.055119720870421954
263
+ ]
264
+ }
265
+ },
266
+ "grasp_16": {
267
+ "confidence": 0.7032198309898376,
268
+ "position": [
269
+ 0.05648450358057744,
270
+ 0.06014154656440951,
271
+ 0.06748963217251003
272
+ ],
273
+ "orientation": {
274
+ "w": 0.4095319673630512,
275
+ "xyz": [
276
+ 0.8324730714621147,
277
+ -0.3244826937701947,
278
+ -0.18434515030729778
279
+ ]
280
+ }
281
+ },
282
+ "grasp_17": {
283
+ "confidence": 0.9580877423286438,
284
+ "position": [
285
+ 0.09718877626801259,
286
+ 0.006970493501285091,
287
+ 0.019988205982372165
288
+ ],
289
+ "orientation": {
290
+ "w": 0.4635509723280633,
291
+ "xyz": [
292
+ -0.49175157844670137,
293
+ -0.5789305856890058,
294
+ 0.456223912243396
295
+ ]
296
+ }
297
+ },
298
+ "grasp_18": {
299
+ "confidence": 0.9165076017379761,
300
+ "position": [
301
+ 0.0015520751730946358,
302
+ 0.09329667119891383,
303
+ -0.03738145460374653
304
+ ],
305
+ "orientation": {
306
+ "w": 0.8447420409171589,
307
+ "xyz": [
308
+ 0.5317676458057019,
309
+ -0.04364552659533305,
310
+ 0.041582727058128835
311
+ ]
312
+ }
313
+ },
314
+ "grasp_19": {
315
+ "confidence": 0.9157200455665588,
316
+ "position": [
317
+ -0.015372928322904045,
318
+ 0.08672838835627772,
319
+ 0.05331734265200794
320
+ ],
321
+ "orientation": {
322
+ "w": 0.4978951775226962,
323
+ "xyz": [
324
+ 0.8647218442569867,
325
+ 0.0005521842555883394,
326
+ 0.06600166177442995
327
+ ]
328
+ }
329
+ }
330
+ }
331
+ },
332
+ {
333
+ "part_name": "case body",
334
+ "mask_color": "Green",
335
+ "graspable": true,
336
+ "grasp_scenarios": [
337
+ {
338
+ "scenario": "grasp the main body to pick up the earbud case",
339
+ "confidence": 0.96
340
+ },
341
+ {
342
+ "scenario": "hold the body while opening or closing the lid",
343
+ "confidence": 0.93
344
+ },
345
+ {
346
+ "scenario": "stabilize the body while plugging in a charging cable",
347
+ "confidence": 0.86
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "house internal components",
352
+ "support the lid",
353
+ "provide main grasp surface",
354
+ "protect stored earbuds",
355
+ "rest on a surface"
356
+ ],
357
+ "semantic_description": "The larger lower shell is pale mint-green plastic with a smooth matte finish, rounded-square shape, and compact size, forming the main structural body of the case.",
358
+ "id": 1,
359
+ "grasp_group": {
360
+ "grasp_20": {
361
+ "confidence": 0.9794439077377319,
362
+ "position": [
363
+ 0.09427227629566914,
364
+ 0.006661504419753328,
365
+ 0.005455456441268325
366
+ ],
367
+ "orientation": {
368
+ "w": 0.4992017315725676,
369
+ "xyz": [
370
+ 0.5339649844510891,
371
+ -0.5142840592222162,
372
+ -0.44854312279313524
373
+ ]
374
+ }
375
+ },
376
+ "grasp_21": {
377
+ "confidence": 0.9745433330535889,
378
+ "position": [
379
+ 0.09428323609972722,
380
+ 0.008073645556578413,
381
+ 0.012225917307659984
382
+ ],
383
+ "orientation": {
384
+ "w": 0.5325508266112461,
385
+ "xyz": [
386
+ 0.49360856227865385,
387
+ -0.5783747273787618,
388
+ -0.37178337651167487
389
+ ]
390
+ }
391
+ },
392
+ "grasp_22": {
393
+ "confidence": 0.9733592867851257,
394
+ "position": [
395
+ 0.08405247880364186,
396
+ 0.0021791387407574803,
397
+ 0.05006602848879993
398
+ ],
399
+ "orientation": {
400
+ "w": 0.33572202276734403,
401
+ "xyz": [
402
+ -0.6140675267417367,
403
+ -0.6254720334938789,
404
+ 0.3449587386156802
405
+ ]
406
+ }
407
+ },
408
+ "grasp_23": {
409
+ "confidence": 0.9718449711799622,
410
+ "position": [
411
+ 0.08253632290507085,
412
+ 0.008120104583213106,
413
+ 0.043756120605394244
414
+ ],
415
+ "orientation": {
416
+ "w": 0.3806415860016757,
417
+ "xyz": [
418
+ 0.6186922232366433,
419
+ -0.612014472387579,
420
+ -0.31268226924592485
421
+ ]
422
+ }
423
+ },
424
+ "grasp_24": {
425
+ "confidence": 0.9709556102752686,
426
+ "position": [
427
+ 0.0928351636066509,
428
+ -0.008041874592890963,
429
+ 0.026466610608622432
430
+ ],
431
+ "orientation": {
432
+ "w": 0.4307994637905122,
433
+ "xyz": [
434
+ -0.5744992308938941,
435
+ -0.5465985448514232,
436
+ 0.43080446430653213
437
+ ]
438
+ }
439
+ },
440
+ "grasp_25": {
441
+ "confidence": 0.9708209037780762,
442
+ "position": [
443
+ 0.08231089813853032,
444
+ 0.003136519022518769,
445
+ 0.04808465833775699
446
+ ],
447
+ "orientation": {
448
+ "w": 0.31867349526331634,
449
+ "xyz": [
450
+ -0.6321247238513944,
451
+ -0.6114529718100593,
452
+ 0.35354037983956854
453
+ ]
454
+ }
455
+ },
456
+ "grasp_26": {
457
+ "confidence": 0.9707736968994141,
458
+ "position": [
459
+ 0.09671287788296468,
460
+ 0.008970155293354765,
461
+ 0.011684560915455222
462
+ ],
463
+ "orientation": {
464
+ "w": 0.49292960095666655,
465
+ "xyz": [
466
+ 0.5408628464505655,
467
+ -0.5128360366845547,
468
+ -0.44887302136324875
469
+ ]
470
+ }
471
+ },
472
+ "grasp_27": {
473
+ "confidence": 0.970073401927948,
474
+ "position": [
475
+ 0.09761145515585667,
476
+ 0.005431266879895702,
477
+ 0.009115110849961638
478
+ ],
479
+ "orientation": {
480
+ "w": 0.4723078210294767,
481
+ "xyz": [
482
+ -0.48803276203893636,
483
+ -0.5618018982146851,
484
+ 0.4723642371448247
485
+ ]
486
+ }
487
+ },
488
+ "grasp_28": {
489
+ "confidence": 0.9700651168823242,
490
+ "position": [
491
+ 0.05425832225228078,
492
+ 0.010299649002263322,
493
+ 0.0764909244608134
494
+ ],
495
+ "orientation": {
496
+ "w": 0.19298431595330756,
497
+ "xyz": [
498
+ -0.6413156383665264,
499
+ -0.7061777544136818,
500
+ 0.2297483078366808
501
+ ]
502
+ }
503
+ },
504
+ "grasp_30": {
505
+ "confidence": 0.9692734479904175,
506
+ "position": [
507
+ 0.07868100507403142,
508
+ 0.01253575729788281,
509
+ 0.049293701304122806
510
+ ],
511
+ "orientation": {
512
+ "w": 0.3783378647928039,
513
+ "xyz": [
514
+ 0.6274056462406863,
515
+ -0.6109950563632652,
516
+ -0.2998460542161242
517
+ ]
518
+ }
519
+ },
520
+ "grasp_31": {
521
+ "confidence": 0.9686041474342346,
522
+ "position": [
523
+ 0.08612689180517918,
524
+ -0.0036987078783567995,
525
+ 0.04740584711544216
526
+ ],
527
+ "orientation": {
528
+ "w": 0.3632148635632767,
529
+ "xyz": [
530
+ -0.6051704851905169,
531
+ -0.6293838647992497,
532
+ 0.32514550200078807
533
+ ]
534
+ }
535
+ },
536
+ "grasp_32": {
537
+ "confidence": 0.9681093096733093,
538
+ "position": [
539
+ 0.09538051290655858,
540
+ 0.00958713042200543,
541
+ 0.0015483947936445475
542
+ ],
543
+ "orientation": {
544
+ "w": 0.4996830844288371,
545
+ "xyz": [
546
+ 0.5315147663678375,
547
+ -0.5072788066480961,
548
+ -0.45877781179380334
549
+ ]
550
+ }
551
+ },
552
+ "grasp_33": {
553
+ "confidence": 0.9677945375442505,
554
+ "position": [
555
+ 0.0936806927456928,
556
+ -0.011030127381673083,
557
+ 0.020602621836587787
558
+ ],
559
+ "orientation": {
560
+ "w": 0.46249720497618735,
561
+ "xyz": [
562
+ -0.555845527321934,
563
+ -0.5502683812911858,
564
+ 0.4175365776750501
565
+ ]
566
+ }
567
+ },
568
+ "grasp_34": {
569
+ "confidence": 0.9677416086196899,
570
+ "position": [
571
+ 0.0867355148329807,
572
+ -0.016555368987610564,
573
+ 0.045393169624730945
574
+ ],
575
+ "orientation": {
576
+ "w": 0.3377800451800534,
577
+ "xyz": [
578
+ 0.5261735643982443,
579
+ -0.6836213834701779,
580
+ -0.37644099839009054
581
+ ]
582
+ }
583
+ },
584
+ "grasp_35": {
585
+ "confidence": 0.9676737785339355,
586
+ "position": [
587
+ 0.08514411552096135,
588
+ 0.0054479473328683525,
589
+ -0.047824080334976315
590
+ ],
591
+ "orientation": {
592
+ "w": 0.5711691734397639,
593
+ "xyz": [
594
+ -0.37098770580205226,
595
+ -0.3760736778438516,
596
+ 0.6282535207134662
597
+ ]
598
+ }
599
+ },
600
+ "grasp_36": {
601
+ "confidence": 0.967387318611145,
602
+ "position": [
603
+ 0.07638335032606847,
604
+ 0.0031879135931376368,
605
+ 0.051099662436172366
606
+ ],
607
+ "orientation": {
608
+ "w": 0.33358048733742046,
609
+ "xyz": [
610
+ -0.5855528441207688,
611
+ -0.6627587829792753,
612
+ 0.3265007209695515
613
+ ]
614
+ }
615
+ },
616
+ "grasp_37": {
617
+ "confidence": 0.967253565788269,
618
+ "position": [
619
+ 0.08661350412512547,
620
+ 0.0041959261579904705,
621
+ 0.044544537318870425
622
+ ],
623
+ "orientation": {
624
+ "w": 0.34785940256477565,
625
+ "xyz": [
626
+ 0.6598058612989225,
627
+ -0.5513525882498745,
628
+ -0.3737116333124099
629
+ ]
630
+ }
631
+ },
632
+ "grasp_38": {
633
+ "confidence": 0.9664639234542847,
634
+ "position": [
635
+ 0.09891417427206761,
636
+ 0.012268337333807722,
637
+ 0.017035501776263118
638
+ ],
639
+ "orientation": {
640
+ "w": 0.4368350529231789,
641
+ "xyz": [
642
+ -0.5093591556737824,
643
+ -0.5625748048048439,
644
+ 0.4829471773058483
645
+ ]
646
+ }
647
+ },
648
+ "grasp_39": {
649
+ "confidence": 0.9661521315574646,
650
+ "position": [
651
+ 0.09725041492129094,
652
+ 0.006888381118187681,
653
+ -0.004479933064430952
654
+ ],
655
+ "orientation": {
656
+ "w": 0.5006783928203197,
657
+ "xyz": [
658
+ 0.5337607148629966,
659
+ -0.4726980328918756,
660
+ -0.4908943021995221
661
+ ]
662
+ }
663
+ }
664
+ }
665
+ },
666
+ {
667
+ "part_name": "front latch recess",
668
+ "mask_color": "Magenta",
669
+ "graspable": false,
670
+ "grasp_scenarios": [],
671
+ "functional_labels": [
672
+ "indicate lid opening point",
673
+ "provide finger access to lift lid",
674
+ "define front closure interface"
675
+ ],
676
+ "semantic_description": "A small shallow recess centered on the front seam between lid and body, molded into the same pale mint-green plastic with a smooth matte surface.",
677
+ "id": 7,
678
+ "grasp_group": {}
679
+ },
680
+ {
681
+ "part_name": "charging port",
682
+ "mask_color": "Purple",
683
+ "graspable": false,
684
+ "grasp_scenarios": [],
685
+ "functional_labels": [
686
+ "accept charging cable",
687
+ "provide electrical charging interface"
688
+ ],
689
+ "semantic_description": "A small dark oblong charging-port opening on the lower side/back area of the case body, recessed into the pale mint-green plastic.",
690
+ "id": 5,
691
+ "grasp_group": {}
692
+ },
693
+ {
694
+ "part_name": "logo segment",
695
+ "mask_color": "Yellow",
696
+ "graspable": false,
697
+ "grasp_scenarios": [],
698
+ "functional_labels": [
699
+ "brand marking",
700
+ "visual identification"
701
+ ],
702
+ "semantic_description": "A small white printed logo segment on the lid surface, flat and smooth, part of the OPPO brand logo.",
703
+ "id": 3,
704
+ "grasp_group": {}
705
+ },
706
+ {
707
+ "part_name": "logo segment",
708
+ "mask_color": "Orange",
709
+ "graspable": false,
710
+ "grasp_scenarios": [],
711
+ "functional_labels": [
712
+ "brand marking",
713
+ "visual identification"
714
+ ],
715
+ "semantic_description": "A small white printed logo segment on the lid surface, flat and smooth, part of the OPPO brand logo.",
716
+ "id": 4,
717
+ "grasp_group": {}
718
+ },
719
+ {
720
+ "part_name": "logo segment",
721
+ "mask_color": "Cyan",
722
+ "graspable": false,
723
+ "grasp_scenarios": [],
724
+ "functional_labels": [
725
+ "brand marking",
726
+ "visual identification"
727
+ ],
728
+ "semantic_description": "A small white printed logo segment on the lid surface, flat and smooth, part of the OPPO brand logo.",
729
+ "id": 6,
730
+ "grasp_group": {}
731
+ },
732
+ {
733
+ "part_name": "logo segment",
734
+ "mask_color": "Blue",
735
+ "graspable": false,
736
+ "grasp_scenarios": [],
737
+ "functional_labels": [
738
+ "brand marking",
739
+ "visual identification"
740
+ ],
741
+ "semantic_description": "A small white printed logo segment on the lid surface, flat and smooth, part of the OPPO brand logo.",
742
+ "id": 2,
743
+ "grasp_group": {}
744
+ }
745
+ ],
746
+ "quality_check": {
747
+ "success": false,
748
+ "message": "Charging port location and logo segmentation are incorrect; logo should be one printed marking, not four physical parts."
749
+ }
750
+ }
dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9db3a2f217e76b7332038701afdcefc079e788ccf1bce6265be377cbe429a6bf
3
+ size 3783016
dataset/desktop_supplies/electronic_accessories/e0518564249e50ff919e69246107796e/earbud_case_006.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>NO: {"summary":"Logo letters are incorrectly segmented as parts; only lid, body, and small port/indicator regions are meaningful.","merge_groups":[]}</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>NO: {"summary":"Logo letters are incorrectly segmented as parts; only lid, body, and small port/indicator regions are meaningful.","merge_groups":[]}</PartSegChecker>