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
76bc420
·
verified ·
1 Parent(s): 6f24f1e

Add asset bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affordance/affordance_annot.json +961 -0
  3. dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5943,3 +5943,4 @@ dataset/bedroom_supplies/small_electronics/e6b3a87874be50489fa723da3b38d0c8/affo
5943
  dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5944
  dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5945
  dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5943
  dataset/bedroom_supplies/small_electronics/ed475ad82d8751feb8d1318516746199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5944
  dataset/bedroom_supplies/small_electronics/f01413b2aca957a4b34ed047aaa341f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5945
  dataset/bedroom_supplies/small_electronics/f222b12835c45fca8a178711fd894803/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5946
+ dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,961 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight body tube",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body tube to pick up and carry the flashlight",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body tube to aim the light beam",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the flashlight body while pressing the side switch",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal components",
24
+ "support aiming",
25
+ "provide structural body"
26
+ ],
27
+ "semantic_description": "Long white cylindrical body forming most of the flashlight, with a mostly matte smooth finish and subtle ribbing near the front section.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_22": {
31
+ "confidence": 0.9910157918930054,
32
+ "position": [
33
+ -0.014974890742450953,
34
+ -0.0968960776226595,
35
+ 0.01668621897988487
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4481924897588276,
39
+ "xyz": [
40
+ -0.5516352228600988,
41
+ 0.5283613111538477,
42
+ 0.46438819741640697
43
+ ]
44
+ }
45
+ },
46
+ "grasp_24": {
47
+ "confidence": 0.9893094301223755,
48
+ "position": [
49
+ 0.050498892553150654,
50
+ 0.09340064681600779,
51
+ 0.000493149840622209
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4382561972096148,
55
+ "xyz": [
56
+ 0.5733761699628213,
57
+ 0.4120537284203032,
58
+ -0.5562220763517575
59
+ ]
60
+ }
61
+ },
62
+ "grasp_25": {
63
+ "confidence": 0.9880889058113098,
64
+ "position": [
65
+ -0.0018638763576745987,
66
+ 0.09638157195877284,
67
+ -0.006842425835202448
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5719621438561268,
71
+ "xyz": [
72
+ 0.43028775416172227,
73
+ 0.5254658942444594,
74
+ -0.4599971180342719
75
+ ]
76
+ }
77
+ },
78
+ "grasp_27": {
79
+ "confidence": 0.9879913926124573,
80
+ "position": [
81
+ 0.02032273169606924,
82
+ 0.09700902260374278,
83
+ -0.015383505073259585
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5264027428843888,
87
+ "xyz": [
88
+ 0.46261293723007435,
89
+ -0.4555454030850451,
90
+ 0.5489697699502583
91
+ ]
92
+ }
93
+ },
94
+ "grasp_28": {
95
+ "confidence": 0.9872785806655884,
96
+ "position": [
97
+ -0.010924141388386488,
98
+ 0.09305752522777766,
99
+ -0.008764148500631563
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5938818116221309,
103
+ "xyz": [
104
+ 0.39137666176873054,
105
+ 0.55856181547652,
106
+ -0.4267755859216341
107
+ ]
108
+ }
109
+ },
110
+ "grasp_29": {
111
+ "confidence": 0.9870963096618652,
112
+ "position": [
113
+ 0.019742812030017376,
114
+ 0.09616327739786357,
115
+ -0.015783910450409167
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5247883937376489,
119
+ "xyz": [
120
+ 0.4904314366686075,
121
+ 0.4496856060736254,
122
+ -0.5309020657481195
123
+ ]
124
+ }
125
+ },
126
+ "grasp_31": {
127
+ "confidence": 0.986525297164917,
128
+ "position": [
129
+ -0.015232646837830544,
130
+ 0.09131552733015269,
131
+ -0.012544699755380861
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5982891304985031,
135
+ "xyz": [
136
+ 0.3852697328854043,
137
+ 0.5483533448414891,
138
+ -0.4392333758389783
139
+ ]
140
+ }
141
+ },
142
+ "grasp_32": {
143
+ "confidence": 0.9859763383865356,
144
+ "position": [
145
+ -0.011246735462918878,
146
+ 0.008053250494413078,
147
+ 0.09690889455669094
148
+ ],
149
+ "orientation": {
150
+ "w": 0.04426183984601036,
151
+ "xyz": [
152
+ 0.7095583955156414,
153
+ 0.7031754474912528,
154
+ -0.010585978093264479
155
+ ]
156
+ }
157
+ },
158
+ "grasp_34": {
159
+ "confidence": 0.9852898716926575,
160
+ "position": [
161
+ 0.01342672947794199,
162
+ 0.012525247293524444,
163
+ 0.0959644068061607
164
+ ],
165
+ "orientation": {
166
+ "w": 0.09059372433121451,
167
+ "xyz": [
168
+ 0.6911146151482862,
169
+ -0.7170438877766647,
170
+ -0.001195341943616886
171
+ ]
172
+ }
173
+ },
174
+ "grasp_36": {
175
+ "confidence": 0.984584391117096,
176
+ "position": [
177
+ 0.0018990738317370415,
178
+ 0.0017658149590715766,
179
+ 0.09691660590760875
180
+ ],
181
+ "orientation": {
182
+ "w": 0.045037246139367056,
183
+ "xyz": [
184
+ -0.7035410676787467,
185
+ -0.7077030412561371,
186
+ 0.046454471759408936
187
+ ]
188
+ }
189
+ },
190
+ "grasp_37": {
191
+ "confidence": 0.9841486811637878,
192
+ "position": [
193
+ -0.05338421370834112,
194
+ 0.005109809688292444,
195
+ 0.08597166575782467
196
+ ],
197
+ "orientation": {
198
+ "w": 0.18981349321374744,
199
+ "xyz": [
200
+ 0.6763462129282737,
201
+ 0.6923897039392851,
202
+ 0.16469103172439659
203
+ ]
204
+ }
205
+ },
206
+ "grasp_38": {
207
+ "confidence": 0.983876645565033,
208
+ "position": [
209
+ -0.05473701562732458,
210
+ 0.000267151917796582,
211
+ 0.08543110378377605
212
+ ],
213
+ "orientation": {
214
+ "w": 0.1815259705210591,
215
+ "xyz": [
216
+ 0.6737453155194125,
217
+ 0.6923849131492837,
218
+ 0.1836265337180154
219
+ ]
220
+ }
221
+ },
222
+ "grasp_39": {
223
+ "confidence": 0.9836952686309814,
224
+ "position": [
225
+ -0.04128664638847113,
226
+ -0.007566421874798834,
227
+ 0.08669735230796505
228
+ ],
229
+ "orientation": {
230
+ "w": 0.1439012663339513,
231
+ "xyz": [
232
+ 0.6866915951571773,
233
+ 0.6834308584349928,
234
+ 0.20166640877147904
235
+ ]
236
+ }
237
+ }
238
+ }
239
+ },
240
+ {
241
+ "part_name": "flashlight head",
242
+ "mask_color": "Pink",
243
+ "graspable": true,
244
+ "grasp_scenarios": [
245
+ {
246
+ "scenario": "grasp the head to orient the beam precisely",
247
+ "confidence": 0.78
248
+ },
249
+ {
250
+ "scenario": "hold the head while repositioning the flashlight in a tight space",
251
+ "confidence": 0.66
252
+ }
253
+ ],
254
+ "functional_labels": [
255
+ "support the light source",
256
+ "direct the beam forward",
257
+ "protect the front optics",
258
+ "indicate front orientation"
259
+ ],
260
+ "semantic_description": "Slightly wider white front section with a smooth matte finish, positioned between the main body tube and the front bezel.",
261
+ "id": 8,
262
+ "grasp_group": {
263
+ "grasp_62": {
264
+ "confidence": 0.9906436800956726,
265
+ "position": [
266
+ -0.035424153320491314,
267
+ -0.0964438795344904,
268
+ 0.010438820536364801
269
+ ],
270
+ "orientation": {
271
+ "w": 0.48117481182879596,
272
+ "xyz": [
273
+ -0.5199117161420171,
274
+ 0.5352100780192155,
275
+ 0.46012257091610964
276
+ ]
277
+ }
278
+ },
279
+ "grasp_65": {
280
+ "confidence": 0.9889711737632751,
281
+ "position": [
282
+ -0.008150329464115202,
283
+ -0.00792886468116194,
284
+ -0.09554351381666493
285
+ ],
286
+ "orientation": {
287
+ "w": 0.7229345523754274,
288
+ "xyz": [
289
+ -0.08820216077818961,
290
+ -0.05528899316788005,
291
+ 0.6830293837385627
292
+ ]
293
+ }
294
+ },
295
+ "grasp_66": {
296
+ "confidence": 0.9888641834259033,
297
+ "position": [
298
+ -0.002592291682958603,
299
+ 0.09028514183592051,
300
+ -0.021212332692812197
301
+ ],
302
+ "orientation": {
303
+ "w": 0.625917788209268,
304
+ "xyz": [
305
+ 0.3545209096771589,
306
+ -0.5161471790668657,
307
+ 0.4649020719960433
308
+ ]
309
+ }
310
+ },
311
+ "grasp_68": {
312
+ "confidence": 0.9868291020393372,
313
+ "position": [
314
+ -0.04539517220109701,
315
+ -0.09754136495757848,
316
+ 0.008547438497771509
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5113482281381014,
320
+ "xyz": [
321
+ -0.4892702757049549,
322
+ 0.5550633354952361,
323
+ 0.4370838369014852
324
+ ]
325
+ }
326
+ },
327
+ "grasp_69": {
328
+ "confidence": 0.9866514205932617,
329
+ "position": [
330
+ -0.03573095705360174,
331
+ -0.08048995130229741,
332
+ 0.05666382722847629
333
+ ],
334
+ "orientation": {
335
+ "w": 0.2975567295010316,
336
+ "xyz": [
337
+ -0.653071836154222,
338
+ -0.6062231718894727,
339
+ -0.34271071680802406
340
+ ]
341
+ }
342
+ },
343
+ "grasp_70": {
344
+ "confidence": 0.9865488409996033,
345
+ "position": [
346
+ -0.028187680058181286,
347
+ 0.09836687601637095,
348
+ -0.007127661068807356
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5109759781270259,
352
+ "xyz": [
353
+ 0.487401588103237,
354
+ 0.48534218990271294,
355
+ -0.515544566833955
356
+ ]
357
+ }
358
+ },
359
+ "grasp_72": {
360
+ "confidence": 0.9863146543502808,
361
+ "position": [
362
+ -0.008491938904626295,
363
+ -0.09486627869773656,
364
+ -0.0029223978490335867
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5649845379698017,
368
+ "xyz": [
369
+ -0.43413992267495105,
370
+ -0.5629606737646549,
371
+ -0.4187962263312344
372
+ ]
373
+ }
374
+ },
375
+ "grasp_75": {
376
+ "confidence": 0.9844070672988892,
377
+ "position": [
378
+ -0.031232443638145924,
379
+ 0.09656513936351985,
380
+ -0.011608328481088392
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5174836618129223,
384
+ "xyz": [
385
+ 0.4808611375364561,
386
+ 0.47361628360899055,
387
+ -0.5259950969963911
388
+ ]
389
+ }
390
+ },
391
+ "grasp_76": {
392
+ "confidence": 0.9829119443893433,
393
+ "position": [
394
+ -0.0346629386767745,
395
+ 0.09771240956615657,
396
+ -0.009111649167607538
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5168939410371756,
400
+ "xyz": [
401
+ 0.492726869703784,
402
+ 0.4723196360395767,
403
+ -0.5166769271047511
404
+ ]
405
+ }
406
+ },
407
+ "grasp_78": {
408
+ "confidence": 0.9818172454833984,
409
+ "position": [
410
+ -0.032552008517086506,
411
+ 0.09863121516536921,
412
+ 0.0004480641655391082
413
+ ],
414
+ "orientation": {
415
+ "w": 0.49261390158160234,
416
+ "xyz": [
417
+ 0.5034561051233254,
418
+ 0.503177040385411,
419
+ -0.5006759033662211
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "front bezel",
427
+ "mask_color": "Teal",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "frame the lens",
432
+ "protect the front edge",
433
+ "retain front optics",
434
+ "define beam opening"
435
+ ],
436
+ "semantic_description": "Circular ring at the very front of the flashlight head, white to pale gray in appearance with a smooth hard finish around the lens opening.",
437
+ "id": 10,
438
+ "grasp_group": {}
439
+ },
440
+ {
441
+ "part_name": "LED lens",
442
+ "mask_color": "Maroon",
443
+ "graspable": false,
444
+ "grasp_scenarios": [],
445
+ "functional_labels": [
446
+ "transmit light",
447
+ "cover the LED",
448
+ "help shape the beam"
449
+ ],
450
+ "semantic_description": "Small round front lens centered in the flashlight head, with a pale bluish translucent appearance and glossy recessed surface.",
451
+ "id": 12,
452
+ "grasp_group": {}
453
+ },
454
+ {
455
+ "part_name": "side switch",
456
+ "mask_color": "Green",
457
+ "graspable": false,
458
+ "grasp_scenarios": [],
459
+ "functional_labels": [
460
+ "power control",
461
+ "mode switching",
462
+ "user input"
463
+ ],
464
+ "semantic_description": "Small oval dark gray button on the side of the flashlight near the front half, slightly raised with a matte rubber-like look.",
465
+ "id": 1,
466
+ "grasp_group": {}
467
+ },
468
+ {
469
+ "part_name": "side indicator panel",
470
+ "mask_color": "Yellow",
471
+ "graspable": false,
472
+ "grasp_scenarios": [],
473
+ "functional_labels": [
474
+ "show status",
475
+ "indicate battery or charging state",
476
+ "provide visual feedback"
477
+ ],
478
+ "semantic_description": "Narrow dark inset panel along the side of the body, appearing as a slim elongated window with a slightly glossy surface.",
479
+ "id": 3,
480
+ "grasp_group": {}
481
+ },
482
+ {
483
+ "part_name": "pocket clip",
484
+ "mask_color": "Red",
485
+ "graspable": true,
486
+ "grasp_scenarios": [
487
+ {
488
+ "scenario": "grasp the clip area lightly to pull the flashlight from a pocket or edge mount",
489
+ "confidence": 0.43
490
+ },
491
+ {
492
+ "scenario": "pinch near the clip to assist repositioning the flashlight",
493
+ "confidence": 0.32
494
+ }
495
+ ],
496
+ "functional_labels": [
497
+ "clip to pocket",
498
+ "retain on fabric or edge",
499
+ "provide secondary stabilization"
500
+ ],
501
+ "semantic_description": "Thin curved metal clip mounted along the side near the rear half, dark gray and slightly reflective with a smooth hard surface.",
502
+ "id": 0,
503
+ "grasp_group": {
504
+ "grasp_2": {
505
+ "confidence": 0.7603356838226318,
506
+ "position": [
507
+ 0.14297138992697,
508
+ 0.03211401484441012,
509
+ -0.006613798715989105
510
+ ],
511
+ "orientation": {
512
+ "w": 0.6999322054390535,
513
+ "xyz": [
514
+ 0.09481006068662261,
515
+ -0.6769068185980385,
516
+ 0.20713068125534687
517
+ ]
518
+ }
519
+ },
520
+ "grasp_8": {
521
+ "confidence": 0.9278827905654907,
522
+ "position": [
523
+ 0.13502598647028208,
524
+ -0.011427983758039773,
525
+ -0.046750387919018976
526
+ ],
527
+ "orientation": {
528
+ "w": 0.621750029894772,
529
+ "xyz": [
530
+ 0.3112862631961532,
531
+ -0.40891140581382435,
532
+ -0.5910323382578889
533
+ ]
534
+ }
535
+ },
536
+ "grasp_9": {
537
+ "confidence": 0.9266864657402039,
538
+ "position": [
539
+ 0.12601826433092356,
540
+ 0.003355506923981011,
541
+ 0.04755682982795406
542
+ ],
543
+ "orientation": {
544
+ "w": 0.32848940635040613,
545
+ "xyz": [
546
+ -0.6247918105135009,
547
+ -0.5939828831403952,
548
+ 0.3858940760973699
549
+ ]
550
+ }
551
+ },
552
+ "grasp_10": {
553
+ "confidence": 0.9256325364112854,
554
+ "position": [
555
+ 0.13119917456060648,
556
+ -0.006328148883767426,
557
+ 0.044435867297579534
558
+ ],
559
+ "orientation": {
560
+ "w": 0.35884837997920505,
561
+ "xyz": [
562
+ 0.5791595880352333,
563
+ -0.6268124286580993,
564
+ -0.37803199739293747
565
+ ]
566
+ }
567
+ },
568
+ "grasp_11": {
569
+ "confidence": 0.9241204261779785,
570
+ "position": [
571
+ 0.12671343330293894,
572
+ -0.0012762615224346519,
573
+ 0.04846370704763103
574
+ ],
575
+ "orientation": {
576
+ "w": 0.3451508094548788,
577
+ "xyz": [
578
+ -0.618882597326865,
579
+ -0.5988918601964803,
580
+ 0.3730734368043313
581
+ ]
582
+ }
583
+ },
584
+ "grasp_13": {
585
+ "confidence": 0.9184505343437195,
586
+ "position": [
587
+ 0.12549652997404337,
588
+ -0.002671928727068007,
589
+ -0.047414413464139216
590
+ ],
591
+ "orientation": {
592
+ "w": 0.6181092665223255,
593
+ "xyz": [
594
+ 0.3423012919149315,
595
+ -0.37460166435212583,
596
+ -0.6003701801865402
597
+ ]
598
+ }
599
+ },
600
+ "grasp_14": {
601
+ "confidence": 0.9112790822982788,
602
+ "position": [
603
+ 0.13446129206568003,
604
+ 0.0009595447918400168,
605
+ 0.047902834790875204
606
+ ],
607
+ "orientation": {
608
+ "w": 0.3416043979419489,
609
+ "xyz": [
610
+ -0.623054769687248,
611
+ -0.5944446165810591,
612
+ 0.3764900889724547
613
+ ]
614
+ }
615
+ },
616
+ "grasp_15": {
617
+ "confidence": 0.9107449650764465,
618
+ "position": [
619
+ 0.12349733058363199,
620
+ -0.061838260968215764,
621
+ 0.005818915742565878
622
+ ],
623
+ "orientation": {
624
+ "w": 0.6633973126377417,
625
+ "xyz": [
626
+ -0.22828547138832436,
627
+ -0.6987992828883903,
628
+ -0.13953247425851892
629
+ ]
630
+ }
631
+ },
632
+ "grasp_17": {
633
+ "confidence": 0.8984375596046448,
634
+ "position": [
635
+ 0.14503841940313578,
636
+ -0.0018708913121372461,
637
+ 0.011264454762567766
638
+ ],
639
+ "orientation": {
640
+ "w": 0.48400725422423424,
641
+ "xyz": [
642
+ -0.5157315570088101,
643
+ -0.5240057977233998,
644
+ 0.47452698860638975
645
+ ]
646
+ }
647
+ },
648
+ "grasp_18": {
649
+ "confidence": 0.8977439403533936,
650
+ "position": [
651
+ 0.13732504192739725,
652
+ 0.002047911868430674,
653
+ -0.02978367060131859
654
+ ],
655
+ "orientation": {
656
+ "w": 0.5910651634654694,
657
+ "xyz": [
658
+ -0.3958786658012472,
659
+ -0.42213939721146543,
660
+ 0.5618900104316708
661
+ ]
662
+ }
663
+ },
664
+ "grasp_19": {
665
+ "confidence": 0.8949577212333679,
666
+ "position": [
667
+ 0.14726095739752054,
668
+ 5.0412811106070876e-05,
669
+ 0.0017569770134286955
670
+ ],
671
+ "orientation": {
672
+ "w": 0.5000330061808197,
673
+ "xyz": [
674
+ -0.4964137342846863,
675
+ -0.5110852937980852,
676
+ 0.4922725054343683
677
+ ]
678
+ }
679
+ }
680
+ }
681
+ },
682
+ {
683
+ "part_name": "tail cap",
684
+ "mask_color": "Magenta",
685
+ "graspable": true,
686
+ "grasp_scenarios": [
687
+ {
688
+ "scenario": "grasp the tail end to pick up the flashlight from the rear",
689
+ "confidence": 0.73
690
+ },
691
+ {
692
+ "scenario": "hold the tail cap while reorienting the flashlight",
693
+ "confidence": 0.59
694
+ }
695
+ ],
696
+ "functional_labels": [
697
+ "close the rear end",
698
+ "protect rear components",
699
+ "provide rear contact surface"
700
+ ],
701
+ "semantic_description": "Rear end cap at the back of the flashlight, white with a smooth matte exterior and slightly thicker than the main body tube.",
702
+ "id": 7,
703
+ "grasp_group": {
704
+ "grasp_40": {
705
+ "confidence": 0.9431295394897461,
706
+ "position": [
707
+ 0.0992157245054841,
708
+ 0.08353902108501643,
709
+ -0.022359725830028765
710
+ ],
711
+ "orientation": {
712
+ "w": 0.4320201146438517,
713
+ "xyz": [
714
+ 0.5565760170601163,
715
+ 0.2882545619865514,
716
+ -0.6484528242444101
717
+ ]
718
+ }
719
+ },
720
+ "grasp_41": {
721
+ "confidence": 0.9367802739143372,
722
+ "position": [
723
+ 0.09804678056389093,
724
+ 0.08715201623272151,
725
+ -0.00784430633939337
726
+ ],
727
+ "orientation": {
728
+ "w": 0.3971773472728177,
729
+ "xyz": [
730
+ 0.5838606963979807,
731
+ 0.3370722230221731,
732
+ -0.6226870469841832
733
+ ]
734
+ }
735
+ },
736
+ "grasp_42": {
737
+ "confidence": 0.9339529871940613,
738
+ "position": [
739
+ 0.09771877620369196,
740
+ 0.08838472969364375,
741
+ -0.00393981188244652
742
+ ],
743
+ "orientation": {
744
+ "w": 0.3798011197739189,
745
+ "xyz": [
746
+ 0.5973303890181516,
747
+ 0.3546523461213458,
748
+ -0.61087578865472
749
+ ]
750
+ }
751
+ },
752
+ "grasp_43": {
753
+ "confidence": 0.8994225263595581,
754
+ "position": [
755
+ 0.10386459622532129,
756
+ 0.08606737561058253,
757
+ 0.0007696779357502237
758
+ ],
759
+ "orientation": {
760
+ "w": 0.3609490961032944,
761
+ "xyz": [
762
+ 0.6132490953269063,
763
+ 0.35512871368843857,
764
+ -0.6062383143755767
765
+ ]
766
+ }
767
+ },
768
+ "grasp_44": {
769
+ "confidence": 0.8761539459228516,
770
+ "position": [
771
+ 0.10470903012901545,
772
+ 0.08591397560667247,
773
+ -0.002629271286423318
774
+ ],
775
+ "orientation": {
776
+ "w": 0.37039310055734365,
777
+ "xyz": [
778
+ 0.6030431355111666,
779
+ 0.3499535950718897,
780
+ -0.613742950320929
781
+ ]
782
+ }
783
+ },
784
+ "grasp_45": {
785
+ "confidence": 0.8514416813850403,
786
+ "position": [
787
+ 0.13941376749426126,
788
+ 0.049622983555309474,
789
+ -0.005315965318004601
790
+ ],
791
+ "orientation": {
792
+ "w": 0.2180033494542293,
793
+ "xyz": [
794
+ 0.6705684250112985,
795
+ 0.155902009610693,
796
+ -0.6917420692743438
797
+ ]
798
+ }
799
+ },
800
+ "grasp_46": {
801
+ "confidence": 0.8448601365089417,
802
+ "position": [
803
+ 0.13861235324293375,
804
+ 0.04959423921536654,
805
+ -0.010915894803474657
806
+ ],
807
+ "orientation": {
808
+ "w": 0.24987074631997902,
809
+ "xyz": [
810
+ 0.6554990942591734,
811
+ 0.13207005950406625,
812
+ -0.7003163905989153
813
+ ]
814
+ }
815
+ },
816
+ "grasp_47": {
817
+ "confidence": 0.8296345472335815,
818
+ "position": [
819
+ 0.14036234561353922,
820
+ 0.047894448856823146,
821
+ 0.0013690565974684432
822
+ ],
823
+ "orientation": {
824
+ "w": 0.6830911796024135,
825
+ "xyz": [
826
+ 0.17503465151368044,
827
+ -0.6870584128156114,
828
+ 0.17521429307611053
829
+ ]
830
+ }
831
+ },
832
+ "grasp_48": {
833
+ "confidence": 0.7745616436004639,
834
+ "position": [
835
+ 0.14092082623392344,
836
+ 0.04185031063389033,
837
+ -0.014435307864914648
838
+ ],
839
+ "orientation": {
840
+ "w": 0.6993334930292209,
841
+ "xyz": [
842
+ 0.061645183705135026,
843
+ -0.6550070159704964,
844
+ 0.2794608127858624
845
+ ]
846
+ }
847
+ },
848
+ "grasp_49": {
849
+ "confidence": 0.9515225887298584,
850
+ "position": [
851
+ 0.05385896656662226,
852
+ 0.0978816197020933,
853
+ -0.006849407494883053
854
+ ],
855
+ "orientation": {
856
+ "w": 0.5267643919030465,
857
+ "xyz": [
858
+ 0.49596159949985447,
859
+ 0.45411751095198005,
860
+ -0.5199217763196087
861
+ ]
862
+ }
863
+ },
864
+ "grasp_50": {
865
+ "confidence": 0.9345949292182922,
866
+ "position": [
867
+ 0.09984973166137934,
868
+ 0.08368919498752803,
869
+ -0.018729182702372782
870
+ ],
871
+ "orientation": {
872
+ "w": 0.4120234436365031,
873
+ "xyz": [
874
+ 0.5640549509079009,
875
+ 0.309733133192045,
876
+ -0.6450923038242219
877
+ ]
878
+ }
879
+ },
880
+ "grasp_55": {
881
+ "confidence": 0.8631600737571716,
882
+ "position": [
883
+ 0.13856101874262094,
884
+ 0.049669627915136516,
885
+ -0.0012416131066856906
886
+ ],
887
+ "orientation": {
888
+ "w": 0.19073543907869703,
889
+ "xyz": [
890
+ 0.6786637641230324,
891
+ 0.17856601413246942,
892
+ -0.6864034281256586
893
+ ]
894
+ }
895
+ },
896
+ "grasp_57": {
897
+ "confidence": 0.8333912491798401,
898
+ "position": [
899
+ 0.1414818847551942,
900
+ 0.04187398112844676,
901
+ -0.0020508361485553905
902
+ ],
903
+ "orientation": {
904
+ "w": 0.6885141747887493,
905
+ "xyz": [
906
+ 0.11136325175190472,
907
+ -0.6847305608904727,
908
+ 0.2114013156459257
909
+ ]
910
+ }
911
+ }
912
+ }
913
+ },
914
+ {
915
+ "part_name": "tail button",
916
+ "mask_color": "Blue",
917
+ "graspable": false,
918
+ "grasp_scenarios": [],
919
+ "functional_labels": [
920
+ "tail switch control",
921
+ "power activation",
922
+ "mode input"
923
+ ],
924
+ "semantic_description": "Small dark gray to blue-gray button protruding from the back center, with a compact cylindrical shape and smooth rubber-like surface.",
925
+ "id": 2,
926
+ "grasp_group": {}
927
+ },
928
+ {
929
+ "part_name": "rear accent ring",
930
+ "mask_color": "Purple",
931
+ "graspable": false,
932
+ "grasp_scenarios": [],
933
+ "functional_labels": [
934
+ "join rear parts",
935
+ "separate tail cap from body",
936
+ "provide structural transition"
937
+ ],
938
+ "semantic_description": "Narrow ring around the tail area between the body and rear button region, white with a smooth hard finish and a slightly stepped cylindrical form.",
939
+ "id": 5,
940
+ "grasp_group": {}
941
+ },
942
+ {
943
+ "part_name": "head retaining ring",
944
+ "mask_color": "Brown",
945
+ "graspable": false,
946
+ "grasp_scenarios": [],
947
+ "functional_labels": [
948
+ "join head components",
949
+ "retain front assembly",
950
+ "provide structural transition"
951
+ ],
952
+ "semantic_description": "Thin band around the front-body junction, visible as a subtle white ring between the front head section and the main body.",
953
+ "id": 11,
954
+ "grasp_group": {}
955
+ }
956
+ ],
957
+ "quality_check": {
958
+ "success": false,
959
+ "message": "Several visual descriptions misstate color/material and one part identity is wrong: front element is reflector/lens assembly, not LED lens alone."
960
+ }
961
+ }
dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e32fe15f14c732bd954262a7d5565f57bd5e7946107b5dc816095468fe442b4
3
+ size 3793388