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
7de982b
·
verified ·
1 Parent(s): 0b74229

Add asset desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/affordance_annot.json +890 -0
  3. dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6222,3 +6222,4 @@ dataset/desktop_supplies/electronic_accessories/51b1defb1a885b70b22f620371f5c705
6222
  dataset/desktop_supplies/electronic_accessories/57a7fef6a90d5691b13a2f124fc4bbf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6223
  dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6224
  dataset/desktop_supplies/electronic_accessories/5a03136ac11e5264bedec67c15f404ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6222
  dataset/desktop_supplies/electronic_accessories/57a7fef6a90d5691b13a2f124fc4bbf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6223
  dataset/desktop_supplies/electronic_accessories/590abe267e375fac9df47900899b213f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6224
  dataset/desktop_supplies/electronic_accessories/5a03136ac11e5264bedec67c15f404ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6225
+ dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,890 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer cable loop",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer cable loop to pick up or reposition the coiled cable",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the outer loop while routing or storing the cable",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "pinch an outer section to stabilize the cable during connector handling",
18
+ "confidence": 0.77
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "carry electrical conductors",
23
+ "provide the main flexible body",
24
+ "allow routing and bending",
25
+ "main grasp surface"
26
+ ],
27
+ "semantic_description": "Long dark gray braided cable body with a matte woven fabric finish, slightly textured and flexible, forming the outside perimeter of the coiled loop.",
28
+ "id": 6,
29
+ "grasp_group": {
30
+ "grasp_99": {
31
+ "confidence": 0.39462748169898987,
32
+ "position": [
33
+ -0.05931659525595023,
34
+ 0.07723059009003919,
35
+ -0.04125021960862796
36
+ ],
37
+ "orientation": {
38
+ "w": 0.31241951663553896,
39
+ "xyz": [
40
+ -0.20337575051416001,
41
+ 0.5187008078159281,
42
+ -0.7694035493153917
43
+ ]
44
+ }
45
+ },
46
+ "grasp_103": {
47
+ "confidence": 0.4756108820438385,
48
+ "position": [
49
+ 0.02225918398835347,
50
+ 0.10842223714280408,
51
+ 0.003817264881945448
52
+ ],
53
+ "orientation": {
54
+ "w": 0.688447763878851,
55
+ "xyz": [
56
+ 0.7219300527140124,
57
+ -0.06489970791137822,
58
+ -0.025391008478813978
59
+ ]
60
+ }
61
+ },
62
+ "grasp_105": {
63
+ "confidence": 0.36060765385627747,
64
+ "position": [
65
+ 0.039717647076031426,
66
+ -0.09882184614252765,
67
+ 0.04075320247284253
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5182843599221333,
71
+ "xyz": [
72
+ -0.8219237049708656,
73
+ -0.23184736775999604,
74
+ 0.045492235929128086
75
+ ]
76
+ }
77
+ },
78
+ "grasp_110": {
79
+ "confidence": 0.6180322170257568,
80
+ "position": [
81
+ -0.017124931498983642,
82
+ 0.10926123212266248,
83
+ -6.73073845973704e-05
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6965504367910633,
87
+ "xyz": [
88
+ 0.7096409459167721,
89
+ 0.10406183131032731,
90
+ 0.019958761205766964
91
+ ]
92
+ }
93
+ },
94
+ "grasp_114": {
95
+ "confidence": 0.5284472107887268,
96
+ "position": [
97
+ -0.04792599490247085,
98
+ 0.0738375211803941,
99
+ -0.04863026183375041
100
+ ],
101
+ "orientation": {
102
+ "w": 0.28414905211866065,
103
+ "xyz": [
104
+ -0.16547722691991767,
105
+ 0.5015273480565675,
106
+ -0.80021679731327
107
+ ]
108
+ }
109
+ },
110
+ "grasp_116": {
111
+ "confidence": 0.3094868063926697,
112
+ "position": [
113
+ -0.09886932855806663,
114
+ 0.048323324575903825,
115
+ -0.010351699816965265
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6644787605443658,
119
+ "xyz": [
120
+ 0.5238586818932295,
121
+ 0.41086253365024505,
122
+ 0.339458446106459
123
+ ]
124
+ }
125
+ },
126
+ "grasp_118": {
127
+ "confidence": 0.2189042717218399,
128
+ "position": [
129
+ 0.10155608767308877,
130
+ 0.009605377606931143,
131
+ -0.009687331545137567
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5672701867414751,
135
+ "xyz": [
136
+ -0.42710566864502497,
137
+ -0.5084348936011509,
138
+ 0.4871131716699558
139
+ ]
140
+ }
141
+ }
142
+ }
143
+ },
144
+ {
145
+ "part_name": "inner cable loop",
146
+ "mask_color": "Lime Green",
147
+ "graspable": true,
148
+ "grasp_scenarios": [
149
+ {
150
+ "scenario": "pinch an inner exposed span of the cable to separate loops or untangle it",
151
+ "confidence": 0.74
152
+ },
153
+ {
154
+ "scenario": "hold the inner span to stabilize the coil while moving it",
155
+ "confidence": 0.69
156
+ }
157
+ ],
158
+ "functional_labels": [
159
+ "provide flexible bend region",
160
+ "support untangling and organization",
161
+ "form the inner edge of the coil"
162
+ ],
163
+ "semantic_description": "Visible inner run of the same dark gray braided cable, matte and slightly textured, appearing as an inner loop segment of the coil.",
164
+ "id": 9,
165
+ "grasp_group": {
166
+ "grasp_144": {
167
+ "confidence": 0.34889888763427734,
168
+ "position": [
169
+ -0.08186587429008796,
170
+ 0.04856817300606053,
171
+ -0.017951950470887823
172
+ ],
173
+ "orientation": {
174
+ "w": 0.3996039312674978,
175
+ "xyz": [
176
+ 0.6318144318910893,
177
+ -0.127639234234869,
178
+ 0.6517940224132448
179
+ ]
180
+ }
181
+ },
182
+ "grasp_147": {
183
+ "confidence": 0.8501858115196228,
184
+ "position": [
185
+ -0.017840883865574142,
186
+ -0.10550112773489673,
187
+ 0.03335840437284787
188
+ ],
189
+ "orientation": {
190
+ "w": 0.4868177711262681,
191
+ "xyz": [
192
+ -0.525624816331732,
193
+ 0.6315837615946804,
194
+ 0.2963595152206161
195
+ ]
196
+ }
197
+ },
198
+ "grasp_151": {
199
+ "confidence": 0.6404502987861633,
200
+ "position": [
201
+ -0.009449592031160137,
202
+ -0.11175276835274417,
203
+ 0.017909605016029673
204
+ ],
205
+ "orientation": {
206
+ "w": 0.2595407595141347,
207
+ "xyz": [
208
+ -0.2054175133986585,
209
+ 0.761225312652232,
210
+ 0.5576542501563577
211
+ ]
212
+ }
213
+ },
214
+ "grasp_155": {
215
+ "confidence": 0.2128385603427887,
216
+ "position": [
217
+ 0.10172304028310464,
218
+ -0.019899054736015387,
219
+ 0.02261959012321313
220
+ ],
221
+ "orientation": {
222
+ "w": 0.3585565942283877,
223
+ "xyz": [
224
+ 0.5870770026846157,
225
+ -0.5184594089352216,
226
+ -0.5079149564058227
227
+ ]
228
+ }
229
+ },
230
+ "grasp_156": {
231
+ "confidence": 0.8606363534927368,
232
+ "position": [
233
+ -0.02626090793273761,
234
+ -0.10103856523346622,
235
+ 0.03389654118291219
236
+ ],
237
+ "orientation": {
238
+ "w": 0.3401411048126104,
239
+ "xyz": [
240
+ -0.7413961748966168,
241
+ -0.3869908810152958,
242
+ -0.4299695322654006
243
+ ]
244
+ }
245
+ },
246
+ "grasp_157": {
247
+ "confidence": 0.8588384389877319,
248
+ "position": [
249
+ -0.028852538376668235,
250
+ -0.1073109482676955,
251
+ -0.0012709071561403107
252
+ ],
253
+ "orientation": {
254
+ "w": 0.5422674075120297,
255
+ "xyz": [
256
+ -0.3001072053914522,
257
+ 0.63989603100251,
258
+ 0.4543289485929219
259
+ ]
260
+ }
261
+ },
262
+ "grasp_158": {
263
+ "confidence": 0.8518372774124146,
264
+ "position": [
265
+ -0.01963890454135253,
266
+ -0.11373324443411548,
267
+ 0.00597683988235076
268
+ ],
269
+ "orientation": {
270
+ "w": 0.6045477180247965,
271
+ "xyz": [
272
+ -0.5026833176852332,
273
+ 0.5257641824220455,
274
+ 0.3246591493151794
275
+ ]
276
+ }
277
+ }
278
+ }
279
+ },
280
+ {
281
+ "part_name": "middle cable loop",
282
+ "mask_color": "Pink",
283
+ "graspable": true,
284
+ "grasp_scenarios": [
285
+ {
286
+ "scenario": "pinch this cable segment to reorient the coiled cable",
287
+ "confidence": 0.72
288
+ },
289
+ {
290
+ "scenario": "hold the segment to guide the cable during storage or deployment",
291
+ "confidence": 0.67
292
+ }
293
+ ],
294
+ "functional_labels": [
295
+ "provide flexible bend region",
296
+ "support cable management",
297
+ "form the middle loop path"
298
+ ],
299
+ "semantic_description": "Another exposed segment of the dark gray braided cable with a matte woven surface and flexible profile, running between the inner and outer loop segments.",
300
+ "id": 8,
301
+ "grasp_group": {
302
+ "grasp_122": {
303
+ "confidence": 0.8925358653068542,
304
+ "position": [
305
+ 0.013012726620218018,
306
+ 0.10395746926951688,
307
+ 0.029768606607831316
308
+ ],
309
+ "orientation": {
310
+ "w": 0.27646018757183893,
311
+ "xyz": [
312
+ 0.41976044825086684,
313
+ 0.7145945485018336,
314
+ -0.48654451186241526
315
+ ]
316
+ }
317
+ },
318
+ "grasp_129": {
319
+ "confidence": 0.35534757375717163,
320
+ "position": [
321
+ 0.022385067135473946,
322
+ 0.11255190770316403,
323
+ 0.005594323349214392
324
+ ],
325
+ "orientation": {
326
+ "w": 0.701236658569237,
327
+ "xyz": [
328
+ 0.7047247921001115,
329
+ -0.04910734786032345,
330
+ -0.09601345980762474
331
+ ]
332
+ }
333
+ },
334
+ "grasp_134": {
335
+ "confidence": 0.8549367785453796,
336
+ "position": [
337
+ -0.026521790012338897,
338
+ -0.09993178893637378,
339
+ 0.028765981976903277
340
+ ],
341
+ "orientation": {
342
+ "w": 0.33928326807562786,
343
+ "xyz": [
344
+ -0.7233320748689185,
345
+ -0.38789403791603394,
346
+ -0.4595821894057054
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "upper cable organizer strap",
354
+ "mask_color": "Red",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the strap to adjust or unfasten the bundled cable loops",
359
+ "confidence": 0.78
360
+ },
361
+ {
362
+ "scenario": "hold the strap as a secondary point while stabilizing the coiled cable",
363
+ "confidence": 0.58
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "bundle the cable coil",
368
+ "organize for storage",
369
+ "prevent tangling",
370
+ "secure adjacent cable loops"
371
+ ],
372
+ "semantic_description": "Small dark gray wraparound organizer strap with a smooth matte finish, mounted around the coiled cable near the middle.",
373
+ "id": 0,
374
+ "grasp_group": {
375
+ "grasp_0": {
376
+ "confidence": 0.42444735765457153,
377
+ "position": [
378
+ -0.0595017123814614,
379
+ -0.005779148850706406,
380
+ 0.08999959189168294
381
+ ],
382
+ "orientation": {
383
+ "w": 0.08112359661608338,
384
+ "xyz": [
385
+ -0.9639240012707394,
386
+ 0.15017556891671263,
387
+ -0.20424686129000963
388
+ ]
389
+ }
390
+ },
391
+ "grasp_6": {
392
+ "confidence": 0.8652539849281311,
393
+ "position": [
394
+ -0.10452238953075721,
395
+ 0.04540013770747464,
396
+ 0.017613900785363512
397
+ ],
398
+ "orientation": {
399
+ "w": 0.636725543603628,
400
+ "xyz": [
401
+ 0.19648808983429347,
402
+ 0.7356452495896038,
403
+ -0.12165146703671392
404
+ ]
405
+ }
406
+ },
407
+ "grasp_7": {
408
+ "confidence": 0.8568099141120911,
409
+ "position": [
410
+ -0.10936721897087409,
411
+ 0.021713700771215372,
412
+ 0.033484416042483645
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5716096771052501,
416
+ "xyz": [
417
+ 0.10836577985716869,
418
+ 0.81266370826865,
419
+ -0.03311996465314693
420
+ ]
421
+ }
422
+ },
423
+ "grasp_8": {
424
+ "confidence": 0.8411290645599365,
425
+ "position": [
426
+ -0.11517937219105079,
427
+ 0.01927089381206315,
428
+ 0.00997402514985879
429
+ ],
430
+ "orientation": {
431
+ "w": 0.6863851645905205,
432
+ "xyz": [
433
+ -0.0006236789174946369,
434
+ 0.7204938960423436,
435
+ -0.09881074142205874
436
+ ]
437
+ }
438
+ }
439
+ }
440
+ },
441
+ {
442
+ "part_name": "lower cable organizer strap",
443
+ "mask_color": "Blue",
444
+ "graspable": true,
445
+ "grasp_scenarios": [
446
+ {
447
+ "scenario": "grasp the strap to adjust the bundle position on the coiled cable",
448
+ "confidence": 0.78
449
+ },
450
+ {
451
+ "scenario": "use the strap as a secondary hold point while stabilizing the cable",
452
+ "confidence": 0.58
453
+ }
454
+ ],
455
+ "functional_labels": [
456
+ "bundle the cable coil",
457
+ "organize for storage",
458
+ "prevent tangling",
459
+ "secure adjacent cable loops"
460
+ ],
461
+ "semantic_description": "Small dark gray wraparound organizer strap around the coil, compact and smooth with a matte finish, used to keep the loops together.",
462
+ "id": 2,
463
+ "grasp_group": {
464
+ "grasp_42": {
465
+ "confidence": 0.9558200836181641,
466
+ "position": [
467
+ 0.1105940666202514,
468
+ 0.03522419433284085,
469
+ -0.010836806188308401
470
+ ],
471
+ "orientation": {
472
+ "w": 0.12601089144191358,
473
+ "xyz": [
474
+ 0.6767604964249941,
475
+ 0.10953686931822149,
476
+ -0.7170203344233498
477
+ ]
478
+ }
479
+ },
480
+ "grasp_45": {
481
+ "confidence": 0.9447590112686157,
482
+ "position": [
483
+ 0.10468535387553857,
484
+ 0.05365802596497815,
485
+ -0.006442869587772293
486
+ ],
487
+ "orientation": {
488
+ "w": 0.16871427042147544,
489
+ "xyz": [
490
+ 0.6700731724498544,
491
+ 0.20787296947856992,
492
+ -0.6923339274362471
493
+ ]
494
+ }
495
+ },
496
+ "grasp_54": {
497
+ "confidence": 0.9059650897979736,
498
+ "position": [
499
+ 0.10452778154649423,
500
+ -0.03776665155601222,
501
+ 0.006072430365748005
502
+ ],
503
+ "orientation": {
504
+ "w": 0.6487796437424852,
505
+ "xyz": [
506
+ -0.12712900621648096,
507
+ -0.730477976479165,
508
+ -0.17124577519661316
509
+ ]
510
+ }
511
+ },
512
+ "grasp_58": {
513
+ "confidence": 0.8980327844619751,
514
+ "position": [
515
+ 0.11837969237603829,
516
+ 0.001503497755038552,
517
+ 0.016703896184480982
518
+ ],
519
+ "orientation": {
520
+ "w": 0.6327017599661752,
521
+ "xyz": [
522
+ 0.003073080749397977,
523
+ -0.7742285020523803,
524
+ 0.015788151257805447
525
+ ]
526
+ }
527
+ }
528
+ }
529
+ },
530
+ {
531
+ "part_name": "connector housing",
532
+ "mask_color": "Orange",
533
+ "graspable": true,
534
+ "grasp_scenarios": [
535
+ {
536
+ "scenario": "grasp the connector housing to insert or unplug the cable end",
537
+ "confidence": 0.93
538
+ },
539
+ {
540
+ "scenario": "hold the housing to orient the plug before mating with a port",
541
+ "confidence": 0.9
542
+ }
543
+ ],
544
+ "functional_labels": [
545
+ "support plug insertion",
546
+ "protect the cable termination",
547
+ "provide connector grip",
548
+ "transfer force to the plug"
549
+ ],
550
+ "semantic_description": "Dark gray molded plastic connector body with a matte to satin finish and hard smooth surface, medium-sized and tapered where the cable transitions toward the plug end.",
551
+ "id": 4,
552
+ "grasp_group": {
553
+ "grasp_84": {
554
+ "confidence": 0.8299956321716309,
555
+ "position": [
556
+ -0.11170926427803352,
557
+ -0.0495929842145415,
558
+ 0.015054144856549101
559
+ ],
560
+ "orientation": {
561
+ "w": 0.6412318113124941,
562
+ "xyz": [
563
+ -0.09421548330047844,
564
+ 0.7484063559936063,
565
+ 0.14083015719556133
566
+ ]
567
+ }
568
+ },
569
+ "grasp_85": {
570
+ "confidence": 0.8206138610839844,
571
+ "position": [
572
+ -0.11089873796663596,
573
+ -0.050808378800866194,
574
+ 0.019165936817444162
575
+ ],
576
+ "orientation": {
577
+ "w": 0.6229264624110191,
578
+ "xyz": [
579
+ -0.08932346921855554,
580
+ 0.7607147520384172,
581
+ 0.15905032633095895
582
+ ]
583
+ }
584
+ },
585
+ "grasp_91": {
586
+ "confidence": 0.7745958566665649,
587
+ "position": [
588
+ -0.11720267420969321,
589
+ -0.03648699198674876,
590
+ 0.00894891373536666
591
+ ],
592
+ "orientation": {
593
+ "w": 0.12338357137962648,
594
+ "xyz": [
595
+ -0.7292841740218285,
596
+ 0.008032179629596348,
597
+ -0.6729461879863097
598
+ ]
599
+ }
600
+ },
601
+ "grasp_93": {
602
+ "confidence": 0.7701579332351685,
603
+ "position": [
604
+ -0.11261099314651801,
605
+ -0.0559827809483977,
606
+ 0.014679534320748644
607
+ ],
608
+ "orientation": {
609
+ "w": 0.6389275024716585,
610
+ "xyz": [
611
+ -0.09089630068173266,
612
+ 0.7450282780883248,
613
+ 0.16864867018880045
614
+ ]
615
+ }
616
+ },
617
+ "grasp_94": {
618
+ "confidence": 0.7304023504257202,
619
+ "position": [
620
+ -0.11465239262543037,
621
+ -0.049608380839345045,
622
+ 0.019912406762159662
623
+ ],
624
+ "orientation": {
625
+ "w": 0.6167126974772206,
626
+ "xyz": [
627
+ -0.06966830292443545,
628
+ 0.7694298489159109,
629
+ 0.15096186251910731
630
+ ]
631
+ }
632
+ }
633
+ }
634
+ },
635
+ {
636
+ "part_name": "plug shell",
637
+ "mask_color": "Yellow",
638
+ "graspable": true,
639
+ "grasp_scenarios": [
640
+ {
641
+ "scenario": "precisely pinch the plug shell for careful connector alignment",
642
+ "confidence": 0.76
643
+ },
644
+ {
645
+ "scenario": "lightly grasp the plug shell to start unplugging in a tight space",
646
+ "confidence": 0.48
647
+ }
648
+ ],
649
+ "functional_labels": [
650
+ "make electrical connection",
651
+ "insert into device port",
652
+ "provide contact alignment"
653
+ ],
654
+ "semantic_description": "Small metallic gold-colored outer plug shell with a reflective smooth finish and angular connector shape at the end of the cable.",
655
+ "id": 3,
656
+ "grasp_group": {
657
+ "grasp_69": {
658
+ "confidence": 0.8775227665901184,
659
+ "position": [
660
+ 0.10518525803126977,
661
+ -0.0654834409506293,
662
+ 9.960102397599258e-05
663
+ ],
664
+ "orientation": {
665
+ "w": 0.1324789400156444,
666
+ "xyz": [
667
+ -0.67037383254933,
668
+ 0.2503273462260245,
669
+ 0.6858458097975741
670
+ ]
671
+ }
672
+ },
673
+ "grasp_71": {
674
+ "confidence": 0.8602083921432495,
675
+ "position": [
676
+ 0.11734657996930764,
677
+ -0.033675493046757765,
678
+ -0.0047892542024783324
679
+ ],
680
+ "orientation": {
681
+ "w": 0.703897808049152,
682
+ "xyz": [
683
+ -0.02865386226556111,
684
+ -0.7020912133152315,
685
+ -0.10380154231229748
686
+ ]
687
+ }
688
+ },
689
+ "grasp_73": {
690
+ "confidence": 0.789682924747467,
691
+ "position": [
692
+ 0.08421169483699487,
693
+ -0.09268835683178622,
694
+ -0.001315287470788462
695
+ ],
696
+ "orientation": {
697
+ "w": 0.30027941700763827,
698
+ "xyz": [
699
+ -0.6310171401052529,
700
+ 0.33448045497388956,
701
+ 0.632275624910055
702
+ ]
703
+ }
704
+ },
705
+ "grasp_76": {
706
+ "confidence": 0.7828279137611389,
707
+ "position": [
708
+ 0.09575072938241647,
709
+ -0.07735873509955127,
710
+ 0.018756674562609987
711
+ ],
712
+ "orientation": {
713
+ "w": 0.5399342221550697,
714
+ "xyz": [
715
+ -0.14100800057861512,
716
+ -0.7726363589239201,
717
+ -0.30268933973202344
718
+ ]
719
+ }
720
+ },
721
+ "grasp_77": {
722
+ "confidence": 0.769536018371582,
723
+ "position": [
724
+ 0.0653764557246177,
725
+ -0.09701306124043185,
726
+ 0.018885744695580797
727
+ ],
728
+ "orientation": {
729
+ "w": 0.5102679730050493,
730
+ "xyz": [
731
+ -0.35868712658642704,
732
+ -0.6927994797924272,
733
+ -0.36193787000786887
734
+ ]
735
+ }
736
+ },
737
+ "grasp_78": {
738
+ "confidence": 0.7683011293411255,
739
+ "position": [
740
+ 0.08269573265351937,
741
+ -0.09937351693224628,
742
+ -0.006327891762339277
743
+ ],
744
+ "orientation": {
745
+ "w": 0.6539990714942018,
746
+ "xyz": [
747
+ -0.35271203293763664,
748
+ -0.6091296602082076,
749
+ -0.2772011784974143
750
+ ]
751
+ }
752
+ }
753
+ }
754
+ },
755
+ {
756
+ "part_name": "plug tip insert",
757
+ "mask_color": "Purple",
758
+ "graspable": false,
759
+ "grasp_scenarios": [],
760
+ "functional_labels": [
761
+ "electrical contact interface",
762
+ "fit inside device port",
763
+ "guide final insertion"
764
+ ],
765
+ "semantic_description": "Tiny dark insert at the very end of the plug, likely hard plastic or coated contact material, with a smooth finish and very small protruding form.",
766
+ "id": 5,
767
+ "grasp_group": {}
768
+ },
769
+ {
770
+ "part_name": "strain relief",
771
+ "mask_color": "Green",
772
+ "graspable": true,
773
+ "grasp_scenarios": [
774
+ {
775
+ "scenario": "grasp near the strain relief to manipulate the cable end without stressing the plug",
776
+ "confidence": 0.58
777
+ },
778
+ {
779
+ "scenario": "hold the end segment to guide connector orientation",
780
+ "confidence": 0.61
781
+ }
782
+ ],
783
+ "functional_labels": [
784
+ "reduce bending stress",
785
+ "protect cable-to-connector joint",
786
+ "guide cable exit direction"
787
+ ],
788
+ "semantic_description": "Short flexible end sleeve between cable and connector, dark gray to black with a matte finish and slightly tapered shape, positioned at the cable termination.",
789
+ "id": 1,
790
+ "grasp_group": {
791
+ "grasp_27": {
792
+ "confidence": 0.818337619304657,
793
+ "position": [
794
+ -0.08328480756244971,
795
+ -0.09398428101849277,
796
+ -0.00018744593762676232
797
+ ],
798
+ "orientation": {
799
+ "w": 0.6440539824211277,
800
+ "xyz": [
801
+ -0.2868974527614171,
802
+ 0.6410190258275309,
803
+ 0.3032802793681435
804
+ ]
805
+ }
806
+ },
807
+ "grasp_31": {
808
+ "confidence": 0.5898182988166809,
809
+ "position": [
810
+ -0.07826357072553947,
811
+ -0.09946939100336749,
812
+ 0.015292732005036669
813
+ ],
814
+ "orientation": {
815
+ "w": 0.39684894434315604,
816
+ "xyz": [
817
+ -0.7310768018065847,
818
+ -0.2227060299010062,
819
+ -0.5083695992874779
820
+ ]
821
+ }
822
+ },
823
+ "grasp_33": {
824
+ "confidence": 0.3203493654727936,
825
+ "position": [
826
+ -0.0021549551129282918,
827
+ -0.025448349610087462,
828
+ -0.10131037425526301
829
+ ],
830
+ "orientation": {
831
+ "w": 0.9941028017876169,
832
+ "xyz": [
833
+ -0.027321364421419907,
834
+ 0.06490319383490717,
835
+ 0.0824665868954872
836
+ ]
837
+ }
838
+ },
839
+ "grasp_35": {
840
+ "confidence": 0.1604158878326416,
841
+ "position": [
842
+ -0.08661216980181052,
843
+ -0.10461726535868365,
844
+ 0.030001783703482943
845
+ ],
846
+ "orientation": {
847
+ "w": 0.34548765145723287,
848
+ "xyz": [
849
+ -0.7714958423586852,
850
+ -0.2311636098175177,
851
+ -0.48165945792641013
852
+ ]
853
+ }
854
+ }
855
+ }
856
+ },
857
+ {
858
+ "part_name": "connector neck",
859
+ "mask_color": "Brown",
860
+ "graspable": false,
861
+ "grasp_scenarios": [],
862
+ "functional_labels": [
863
+ "join connector housing to plug shell",
864
+ "transfer insertion force",
865
+ "support plug alignment"
866
+ ],
867
+ "semantic_description": "Narrow dark connector section between the larger dark gray housing and the metallic gold plug shell, with a smooth hard finish.",
868
+ "id": 11,
869
+ "grasp_group": {}
870
+ },
871
+ {
872
+ "part_name": "connector side body",
873
+ "mask_color": "Teal",
874
+ "graspable": false,
875
+ "grasp_scenarios": [],
876
+ "functional_labels": [
877
+ "form outer connector body",
878
+ "protect internal wiring",
879
+ "provide structural enclosure"
880
+ ],
881
+ "semantic_description": "Dark gray side portion of the connector body with a smooth matte finish, forming part of the outer shell leading from the cable toward the plug.",
882
+ "id": 10,
883
+ "grasp_group": {}
884
+ }
885
+ ],
886
+ "quality_check": {
887
+ "success": false,
888
+ "message": "Several part identities and colors mismatch; plug shell color wrong; connector subparts are over-segmented/misnamed versus visible object parts."
889
+ }
890
+ }
dataset/desktop_supplies/electronic_accessories/5a90a5af888254399e9a7ae0126704f6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f07ebb51a839566d8781d719e71bbb18c187611e69a4cdf3339746d0e68720ec
3
+ size 3796776