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
87c47e5
·
verified ·
1 Parent(s): 58cccc3

Add asset desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/affordance_annot.json +734 -0
  3. dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6299,3 +6299,4 @@ dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/affo
6299
  dataset/desktop_supplies/office_stationery/337ab234af0259b98488c1e3a73b9a11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6299
  dataset/desktop_supplies/office_stationery/337ab234af0259b98488c1e3a73b9a11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6300
  dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6301
  dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6302
+ dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/affordance_annot.json ADDED
@@ -0,0 +1,734 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glue stick body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and move the glue stick",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body while removing or replacing the cap",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "grasp the body to apply glue to a surface",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain glue mechanism",
24
+ "support adhesive application",
25
+ "stabilize the stick during cap removal"
26
+ ],
27
+ "semantic_description": "Large light green plastic cylinder with a mostly smooth semi-gloss surface, printed white label band and small graphics, forming the main lower body of the glue stick.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9931238293647766,
32
+ "position": [
33
+ -0.09288280193504761,
34
+ -0.013922987120167818,
35
+ 0.0015693865716457367
36
+ ],
37
+ "orientation": {
38
+ "w": 0.46185754237810267,
39
+ "xyz": [
40
+ -0.6037292561608573,
41
+ 0.5028180427921147,
42
+ -0.4115490391759224
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9927875399589539,
48
+ "position": [
49
+ 0.049134562566905515,
50
+ 0.08462873605458299,
51
+ -0.010028343182057142
52
+ ],
53
+ "orientation": {
54
+ "w": 0.1835148608424533,
55
+ "xyz": [
56
+ -0.18387810575519756,
57
+ -0.6933855771209254,
58
+ 0.6721068215057308
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9927339553833008,
64
+ "position": [
65
+ -0.09788532291349838,
66
+ -0.008273056322650518,
67
+ -0.03630152530968189
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5292535580149437,
71
+ "xyz": [
72
+ -0.5011940268622881,
73
+ 0.45192050542670603,
74
+ -0.514259735484859
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9923960566520691,
80
+ "position": [
81
+ -0.08866084103283356,
82
+ -0.028665301004366484,
83
+ 0.022250695154070854
84
+ ],
85
+ "orientation": {
86
+ "w": 0.46309909823360923,
87
+ "xyz": [
88
+ -0.6579324582784478,
89
+ 0.4882501413758795,
90
+ -0.33804719345873896
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9923588633537292,
96
+ "position": [
97
+ -0.0980676535218663,
98
+ -0.0024321096352650784,
99
+ -0.031342556700110435
100
+ ],
101
+ "orientation": {
102
+ "w": 0.505168396997305,
103
+ "xyz": [
104
+ 0.4881613310792156,
105
+ 0.49342930726687173,
106
+ 0.5128654055834502
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9922290444374084,
112
+ "position": [
113
+ 0.04782851676645805,
114
+ 0.07492106912104646,
115
+ -0.0826533380895853
116
+ ],
117
+ "orientation": {
118
+ "w": 0.8413120959710813,
119
+ "xyz": [
120
+ 0.4708139925548926,
121
+ -0.14602604621065784,
122
+ -0.22182095350834233
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9921838641166687,
128
+ "position": [
129
+ -0.09848589931425522,
130
+ -0.003377478184120264,
131
+ -0.027999887242913246
132
+ ],
133
+ "orientation": {
134
+ "w": 0.49908754356829416,
135
+ "xyz": [
136
+ -0.5113740199027231,
137
+ 0.48577002011434933,
138
+ -0.5034239994096431
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9921799898147583,
144
+ "position": [
145
+ 0.016465545475512045,
146
+ 0.08878551182715455,
147
+ -0.080430181697011
148
+ ],
149
+ "orientation": {
150
+ "w": 0.8570129603405809,
151
+ "xyz": [
152
+ 0.5093157830240939,
153
+ -0.044083914826174464,
154
+ -0.06467478198205905
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9921668767929077,
160
+ "position": [
161
+ -0.09841937308010529,
162
+ 9.3110887974035e-05,
163
+ -0.03967131860554218
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5299478460796474,
167
+ "xyz": [
168
+ 0.4761587647975904,
169
+ 0.46152510013253856,
170
+ 0.528604476985984
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9921586513519287,
176
+ "position": [
177
+ -0.0956075984686322,
178
+ -0.0017274052006541751,
179
+ -0.052142566069960594
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5429747882188775,
183
+ "xyz": [
184
+ -0.453215580853727,
185
+ 0.4422675945392125,
186
+ -0.5515191668932129
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9921243786811829,
192
+ "position": [
193
+ 0.040240119054942625,
194
+ 0.08900717405049363,
195
+ -0.032216111198067665
196
+ ],
197
+ "orientation": {
198
+ "w": 0.13977973495753385,
199
+ "xyz": [
200
+ -0.14499337806283488,
201
+ -0.6392187134481688,
202
+ 0.7421846012891922
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9920990467071533,
208
+ "position": [
209
+ 0.019669751480250852,
210
+ 0.08849656341044465,
211
+ -0.08492523618042469
212
+ ],
213
+ "orientation": {
214
+ "w": 0.10258959239688968,
215
+ "xyz": [
216
+ -0.04047089482163246,
217
+ -0.5206624175067885,
218
+ 0.8466097856747007
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9918898940086365,
224
+ "position": [
225
+ -0.09873456244167755,
226
+ -0.010187557512836065,
227
+ -0.02472163736820221
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5226465067331851,
231
+ "xyz": [
232
+ -0.5230126699706444,
233
+ 0.465394677031048,
234
+ -0.48652458379915703
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9918888211250305,
240
+ "position": [
241
+ 0.021428990021377103,
242
+ 0.08359993753401795,
243
+ -0.08129546977579594
244
+ ],
245
+ "orientation": {
246
+ "w": 0.10427803631393937,
247
+ "xyz": [
248
+ -0.058597640559620974,
249
+ -0.49560710927754925,
250
+ 0.8602708880910162
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9918613433837891,
256
+ "position": [
257
+ -0.09788837020096253,
258
+ 0.0031280938201234676,
259
+ -0.025200385600328445
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4829034029399999,
263
+ "xyz": [
264
+ -0.49424752596497223,
265
+ 0.5089627679815744,
266
+ -0.5133036015020799
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9918051958084106,
272
+ "position": [
273
+ -0.0973841596096463,
274
+ 0.005745680922700558,
275
+ -0.02958562783896923
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4749593641719597,
279
+ "xyz": [
280
+ -0.49181872508714286,
281
+ 0.5086505900060254,
282
+ -0.5232614273243799
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9917793869972229,
288
+ "position": [
289
+ 0.022250956699281232,
290
+ 0.0908661535140709,
291
+ -0.07992882467806339
292
+ ],
293
+ "orientation": {
294
+ "w": 0.1098231776526007,
295
+ "xyz": [
296
+ -0.048757715449139795,
297
+ -0.5362612980464019,
298
+ 0.8354551903316264
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9917711615562439,
304
+ "position": [
305
+ -0.09773834531006287,
306
+ 0.0070258359555737115,
307
+ -0.04002886824309826
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5400433446290552,
311
+ "xyz": [
312
+ 0.497492461670726,
313
+ 0.4518158141269807,
314
+ 0.5066723858741851
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.991764485836029,
320
+ "position": [
321
+ -0.09909394119677017,
322
+ -0.0007010192712186836,
323
+ -0.0295826755464077
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5063245467049678,
327
+ "xyz": [
328
+ 0.4977361009371152,
329
+ 0.48749604265146473,
330
+ 0.5081750049216203
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9917641282081604,
336
+ "position": [
337
+ -0.09973980222639511,
338
+ -0.001585337297001388,
339
+ -0.026968982070684433
340
+ ],
341
+ "orientation": {
342
+ "w": 0.5003424822723473,
343
+ "xyz": [
344
+ -0.5015257466113386,
345
+ 0.4907804707358451,
346
+ -0.5072118447589601
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "cap",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the cap to pull it off and open the glue stick",
359
+ "confidence": 0.93
360
+ },
361
+ {
362
+ "scenario": "grasp the cap to align and press it back on for closing",
363
+ "confidence": 0.88
364
+ },
365
+ {
366
+ "scenario": "hold the capped top briefly to reposition the glue stick",
367
+ "confidence": 0.54
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "cover the glue",
372
+ "protect from drying out",
373
+ "enable opening and closing",
374
+ "provide top grip for uncapping"
375
+ ],
376
+ "semantic_description": "Medium-sized light green plastic cap with a slightly domed top and vertically ribbed matte-to-semi-gloss sides, covering the upper end of the glue stick.",
377
+ "id": 1,
378
+ "grasp_group": {
379
+ "grasp_20": {
380
+ "confidence": 0.9873911738395691,
381
+ "position": [
382
+ -0.09450017397102783,
383
+ -0.022964584255532827,
384
+ 0.046102775260806084
385
+ ],
386
+ "orientation": {
387
+ "w": 0.512631472623201,
388
+ "xyz": [
389
+ -0.5924018343970122,
390
+ 0.47196816778935113,
391
+ -0.4043699895798227
392
+ ]
393
+ }
394
+ },
395
+ "grasp_21": {
396
+ "confidence": 0.985947847366333,
397
+ "position": [
398
+ -0.09401267503199051,
399
+ -0.030497078398184385,
400
+ 0.02605719305574894
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5613387939643645,
404
+ "xyz": [
405
+ -0.5752411980227755,
406
+ 0.42464149266444784,
407
+ -0.4167444363103889
408
+ ]
409
+ }
410
+ },
411
+ "grasp_22": {
412
+ "confidence": 0.9855021238327026,
413
+ "position": [
414
+ 0.03334232683482696,
415
+ 0.08969174829690019,
416
+ 0.004382721148431301
417
+ ],
418
+ "orientation": {
419
+ "w": 0.1302639653497471,
420
+ "xyz": [
421
+ -0.10915389030236892,
422
+ -0.6213976500293077,
423
+ 0.7648409560825523
424
+ ]
425
+ }
426
+ },
427
+ "grasp_23": {
428
+ "confidence": 0.9854680895805359,
429
+ "position": [
430
+ -0.09770344679054688,
431
+ -0.012269439721421804,
432
+ 0.029674237594008446
433
+ ],
434
+ "orientation": {
435
+ "w": 0.5292063144797772,
436
+ "xyz": [
437
+ -0.5303227963288295,
438
+ 0.48153565406967447,
439
+ -0.4547766729598086
440
+ ]
441
+ }
442
+ },
443
+ "grasp_24": {
444
+ "confidence": 0.9854214191436768,
445
+ "position": [
446
+ -0.09675261859592865,
447
+ -0.008530988903657999,
448
+ 0.025552524253726006
449
+ ],
450
+ "orientation": {
451
+ "w": 0.4956624023060512,
452
+ "xyz": [
453
+ -0.5385554687949289,
454
+ 0.4822645661497936,
455
+ -0.4813498501169607
456
+ ]
457
+ }
458
+ },
459
+ "grasp_25": {
460
+ "confidence": 0.9852277040481567,
461
+ "position": [
462
+ -0.09809259061512421,
463
+ -0.008498791219608393,
464
+ 0.029162833467125893
465
+ ],
466
+ "orientation": {
467
+ "w": 0.5003498890167191,
468
+ "xyz": [
469
+ -0.5307121478015532,
470
+ 0.487399391007876,
471
+ -0.48003795514726866
472
+ ]
473
+ }
474
+ },
475
+ "grasp_26": {
476
+ "confidence": 0.9850167036056519,
477
+ "position": [
478
+ 0.03310119251909782,
479
+ 0.09532039371697465,
480
+ 0.028081389144062996
481
+ ],
482
+ "orientation": {
483
+ "w": 0.10618782617008567,
484
+ "xyz": [
485
+ -0.11960356935585312,
486
+ -0.6978305750946281,
487
+ 0.6981773558586042
488
+ ]
489
+ }
490
+ },
491
+ "grasp_27": {
492
+ "confidence": 0.9849079847335815,
493
+ "position": [
494
+ 0.10002032931151916,
495
+ -0.0061592968049808405,
496
+ 0.025835106149315834
497
+ ],
498
+ "orientation": {
499
+ "w": 0.46831180966631236,
500
+ "xyz": [
501
+ 0.4911441886537525,
502
+ -0.5309577575010649,
503
+ -0.5074892064154191
504
+ ]
505
+ }
506
+ },
507
+ "grasp_28": {
508
+ "confidence": 0.9842739701271057,
509
+ "position": [
510
+ 0.09882250691953232,
511
+ 0.0013030515183345415,
512
+ 0.03400266356766224
513
+ ],
514
+ "orientation": {
515
+ "w": 0.48024317951897155,
516
+ "xyz": [
517
+ -0.515545323992226,
518
+ -0.5170038422922634,
519
+ 0.48609313355600525
520
+ ]
521
+ }
522
+ },
523
+ "grasp_29": {
524
+ "confidence": 0.9842386841773987,
525
+ "position": [
526
+ 0.09893916811051895,
527
+ 0.004518586130870972,
528
+ 0.025768710300326347
529
+ ],
530
+ "orientation": {
531
+ "w": 0.4782973408823731,
532
+ "xyz": [
533
+ -0.5033065980109738,
534
+ -0.5225365803130455,
535
+ 0.49484305020705205
536
+ ]
537
+ }
538
+ },
539
+ "grasp_30": {
540
+ "confidence": 0.9842168092727661,
541
+ "position": [
542
+ 0.030008812278538244,
543
+ 0.09280981627671281,
544
+ 0.02531866915524006
545
+ ],
546
+ "orientation": {
547
+ "w": 0.10713345888105741,
548
+ "xyz": [
549
+ -0.10826625189635868,
550
+ -0.699251572400013,
551
+ 0.6984612223914832
552
+ ]
553
+ }
554
+ },
555
+ "grasp_31": {
556
+ "confidence": 0.9841864705085754,
557
+ "position": [
558
+ 0.03464971746507217,
559
+ 0.08884748575655976,
560
+ 0.041884588077664375
561
+ ],
562
+ "orientation": {
563
+ "w": 0.11808810408905424,
564
+ "xyz": [
565
+ -0.13805265065334632,
566
+ -0.7612910046996009,
567
+ 0.6224408979844672
568
+ ]
569
+ }
570
+ },
571
+ "grasp_32": {
572
+ "confidence": 0.9839977025985718,
573
+ "position": [
574
+ 0.026464192971616285,
575
+ 0.09622025248972932,
576
+ 0.024233264848589897
577
+ ],
578
+ "orientation": {
579
+ "w": 0.07332112309141285,
580
+ "xyz": [
581
+ -0.09626814858537054,
582
+ -0.6999638940550872,
583
+ 0.703851549331105
584
+ ]
585
+ }
586
+ },
587
+ "grasp_33": {
588
+ "confidence": 0.9839197993278503,
589
+ "position": [
590
+ -0.09812055264410446,
591
+ 0.0016511751236976124,
592
+ 0.03504560701549053
593
+ ],
594
+ "orientation": {
595
+ "w": 0.4719615410353379,
596
+ "xyz": [
597
+ -0.5057010874229889,
598
+ 0.5141432575633388,
599
+ -0.5071246638302196
600
+ ]
601
+ }
602
+ },
603
+ "grasp_34": {
604
+ "confidence": 0.983805239200592,
605
+ "position": [
606
+ -0.014199756242305739,
607
+ -0.09515457841189345,
608
+ 0.039224399253726006
609
+ ],
610
+ "orientation": {
611
+ "w": 0.6538981517116385,
612
+ "xyz": [
613
+ -0.7526064722609707,
614
+ 0.05187137918743112,
615
+ -0.05753316539347988
616
+ ]
617
+ }
618
+ },
619
+ "grasp_35": {
620
+ "confidence": 0.9835228323936462,
621
+ "position": [
622
+ 0.09471123929324676,
623
+ -0.011925285296456423,
624
+ 0.06025548093020916
625
+ ],
626
+ "orientation": {
627
+ "w": 0.4117705631509914,
628
+ "xyz": [
629
+ -0.6303061357468954,
630
+ -0.5464118626350706,
631
+ 0.3668695339406153
632
+ ]
633
+ }
634
+ },
635
+ "grasp_36": {
636
+ "confidence": 0.9833680987358093,
637
+ "position": [
638
+ 0.07056501026454498,
639
+ 0.07278290150134126,
640
+ 0.017565419897437096
641
+ ],
642
+ "orientation": {
643
+ "w": 0.26702834125312597,
644
+ "xyz": [
645
+ -0.25613707276820163,
646
+ -0.6525986282279186,
647
+ 0.6612145607564767
648
+ ]
649
+ }
650
+ },
651
+ "grasp_37": {
652
+ "confidence": 0.9831113815307617,
653
+ "position": [
654
+ -0.09461971108612488,
655
+ 0.01837218125729123,
656
+ 0.041033102199435234
657
+ ],
658
+ "orientation": {
659
+ "w": 0.40623853412740607,
660
+ "xyz": [
661
+ -0.4888069313203184,
662
+ 0.5958592240517238,
663
+ -0.4909071423351947
664
+ ]
665
+ }
666
+ },
667
+ "grasp_38": {
668
+ "confidence": 0.9830242395401001,
669
+ "position": [
670
+ 0.09876000399890472,
671
+ 0.006379892038239632,
672
+ 0.049212897196412086
673
+ ],
674
+ "orientation": {
675
+ "w": 0.43597042861833396,
676
+ "xyz": [
677
+ -0.5306467409953726,
678
+ -0.5676981681733348,
679
+ 0.4539411982779009
680
+ ]
681
+ }
682
+ },
683
+ "grasp_39": {
684
+ "confidence": 0.9828731417655945,
685
+ "position": [
686
+ 0.09808833415809204,
687
+ 0.013660014992638025,
688
+ 0.03246618993580341
689
+ ],
690
+ "orientation": {
691
+ "w": 0.42841151053473914,
692
+ "xyz": [
693
+ -0.49188079031831405,
694
+ -0.5594678509388658,
695
+ 0.5113830164593083
696
+ ]
697
+ }
698
+ }
699
+ }
700
+ },
701
+ {
702
+ "part_name": "top end of cap",
703
+ "mask_color": "Yellow",
704
+ "graspable": false,
705
+ "grasp_scenarios": [],
706
+ "functional_labels": [
707
+ "close the cap top",
708
+ "provide end surface",
709
+ "indicate top orientation"
710
+ ],
711
+ "semantic_description": "Small circular pale green plastic end panel at the very top of the cap, smooth and slightly recessed, forming the cap's top face.",
712
+ "id": 3,
713
+ "grasp_group": {}
714
+ },
715
+ {
716
+ "part_name": "rim of cap",
717
+ "mask_color": "Blue",
718
+ "graspable": false,
719
+ "grasp_scenarios": [],
720
+ "functional_labels": [
721
+ "join cap side to cap top",
722
+ "reinforce cap edge",
723
+ "define top boundary"
724
+ ],
725
+ "semantic_description": "Thin circular pale green plastic rim around the cap top, smooth and slightly raised, marking the edge between the top face and the ribbed cap wall.",
726
+ "id": 2,
727
+ "grasp_group": {}
728
+ }
729
+ ],
730
+ "quality_check": {
731
+ "success": true,
732
+ "message": "YES"
733
+ }
734
+ }
dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:988992b52560dfc413c1bc6d3641e0ae731f1560af312f1cdee4b1304d230510
3
+ size 3777612