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
9fc0226
·
verified ·
1 Parent(s): 0d525bc

Add asset bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/affordance_annot.json +652 -0
  3. dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5969,3 +5969,4 @@ dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/affordance/mes
5969
  dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5970
  dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5971
  dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5969
  dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5970
  dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5971
  dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5972
+ dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/affordance_annot.json ADDED
@@ -0,0 +1,652 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "top loop handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upright loop handle on the short end to lift and carry the fabric storage bin",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the top loop to pull the bin forward from a shelf or reposition it",
14
+ "confidence": 0.9
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide a carrying grip",
19
+ "lift and carry the bin",
20
+ "pull the bin forward",
21
+ "help reposition the container"
22
+ ],
23
+ "semantic_description": "Dark green fabric loop handle with a matte woven finish and soft flexible texture, attached to the upper edge of a short end panel and arching above the rim.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "front cutout handle",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "insert gripper fingers under the small front handle to pull the bin outward",
34
+ "confidence": 0.92
35
+ },
36
+ {
37
+ "scenario": "grasp the small fabric handle on the short side to steady or reposition the bin",
38
+ "confidence": 0.84
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "provide a front pull grip",
43
+ "assist repositioning",
44
+ "help access the bin on a shelf",
45
+ "offer a secondary handhold"
46
+ ],
47
+ "semantic_description": "Short dark green fabric handle mounted on the upper portion of a short end panel, forming a low loop above a semicircular cutout, with a matte woven surface and soft flexible form.",
48
+ "id": 1,
49
+ "grasp_group": {}
50
+ },
51
+ {
52
+ "part_name": "bottom panel",
53
+ "mask_color": "Blue",
54
+ "graspable": true,
55
+ "grasp_scenarios": [
56
+ {
57
+ "scenario": "support the bin from underneath with a gripper during pickup",
58
+ "confidence": 0.58
59
+ },
60
+ {
61
+ "scenario": "contact the lower base area to stabilize the bin during placement",
62
+ "confidence": 0.34
63
+ }
64
+ ],
65
+ "functional_labels": [
66
+ "support stored contents",
67
+ "form the base",
68
+ "provide ground contact",
69
+ "stabilize the container"
70
+ ],
71
+ "semantic_description": "Large rectangular bottom panel covered in white patterned fabric, with a matte textile finish and slightly textured woven surface visible along the underside.",
72
+ "id": 2,
73
+ "grasp_group": {
74
+ "grasp_40": {
75
+ "confidence": 0.9386802315711975,
76
+ "position": [
77
+ -0.008517162234056741,
78
+ -0.10659249156014994,
79
+ -0.0032374339643865824
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5066691332772826,
83
+ "xyz": [
84
+ -0.5033671854191358,
85
+ -0.4965891438420881,
86
+ -0.49326168333395465
87
+ ]
88
+ }
89
+ },
90
+ "grasp_41": {
91
+ "confidence": 0.9376528263092041,
92
+ "position": [
93
+ -0.02323152805911377,
94
+ -0.10947056888835505,
95
+ -0.00240861508063972
96
+ ],
97
+ "orientation": {
98
+ "w": 0.49972928330738614,
99
+ "xyz": [
100
+ -0.5073324337088458,
101
+ -0.4922175195427807,
102
+ -0.5006059913417918
103
+ ]
104
+ }
105
+ },
106
+ "grasp_42": {
107
+ "confidence": 0.9356994032859802,
108
+ "position": [
109
+ -0.0015537404105998576,
110
+ -0.10810681461589411,
111
+ -0.0035114509519189596
112
+ ],
113
+ "orientation": {
114
+ "w": 0.4971966953447844,
115
+ "xyz": [
116
+ -0.4993663066525906,
117
+ -0.5026456982368542,
118
+ -0.5007754386572503
119
+ ]
120
+ }
121
+ },
122
+ "grasp_43": {
123
+ "confidence": 0.9319201111793518,
124
+ "position": [
125
+ -0.013216684863436967,
126
+ -0.10904791235225275,
127
+ -0.00544799049384892
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5098964945256307,
131
+ "xyz": [
132
+ -0.5070003470763045,
133
+ -0.49069757908669176,
134
+ -0.4921098442557711
135
+ ]
136
+ }
137
+ },
138
+ "grasp_44": {
139
+ "confidence": 0.9305373430252075,
140
+ "position": [
141
+ -0.014081443950999528,
142
+ -0.11448915331857279,
143
+ -0.0014063012786209583
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5004919265616411,
147
+ "xyz": [
148
+ -0.5030915535361771,
149
+ -0.5035654803484207,
150
+ -0.492776346031987
151
+ ]
152
+ }
153
+ },
154
+ "grasp_45": {
155
+ "confidence": 0.9299188256263733,
156
+ "position": [
157
+ -0.00747937272535637,
158
+ -0.11432439117925242,
159
+ 0.0012499295989982784
160
+ ],
161
+ "orientation": {
162
+ "w": 0.4867268207982151,
163
+ "xyz": [
164
+ -0.5042351158459996,
165
+ 0.5138520925011,
166
+ 0.4947726517256942
167
+ ]
168
+ }
169
+ },
170
+ "grasp_46": {
171
+ "confidence": 0.9292637705802917,
172
+ "position": [
173
+ -0.005147650197613984,
174
+ -0.10475993930594996,
175
+ -0.0033724361564964056
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5263957454112701,
179
+ "xyz": [
180
+ -0.4779706885687139,
181
+ -0.5238273637375155,
182
+ -0.4691017299924042
183
+ ]
184
+ }
185
+ },
186
+ "grasp_47": {
187
+ "confidence": 0.925096869468689,
188
+ "position": [
189
+ -0.030135150358546525,
190
+ -0.10476189880864695,
191
+ 0.0036470660706982017
192
+ ],
193
+ "orientation": {
194
+ "w": 0.4795425379546142,
195
+ "xyz": [
196
+ -0.5394787657540698,
197
+ -0.47772348693278577,
198
+ -0.5007812752343016
199
+ ]
200
+ }
201
+ },
202
+ "grasp_48": {
203
+ "confidence": 0.9202358722686768,
204
+ "position": [
205
+ 0.013285098306369036,
206
+ -0.10506288736360148,
207
+ -0.0032200163695961237
208
+ ],
209
+ "orientation": {
210
+ "w": 0.565347297014872,
211
+ "xyz": [
212
+ -0.44464443569451806,
213
+ -0.5466860974467305,
214
+ -0.4287284343525
215
+ ]
216
+ }
217
+ },
218
+ "grasp_49": {
219
+ "confidence": 0.9189723134040833,
220
+ "position": [
221
+ -0.010704541869927198,
222
+ -0.11453448265092447,
223
+ -0.003470325144007802
224
+ ],
225
+ "orientation": {
226
+ "w": 0.4889731934581369,
227
+ "xyz": [
228
+ -0.505186489187525,
229
+ 0.5008419117582249,
230
+ 0.5048259171715545
231
+ ]
232
+ }
233
+ },
234
+ "grasp_50": {
235
+ "confidence": 0.9189162254333496,
236
+ "position": [
237
+ 0.00277590419864282,
238
+ -0.11204495310084894,
239
+ -0.002926666522398591
240
+ ],
241
+ "orientation": {
242
+ "w": 0.49783960038250813,
243
+ "xyz": [
244
+ -0.4949441855688699,
245
+ 0.5084377931460412,
246
+ 0.4986752409768671
247
+ ]
248
+ }
249
+ },
250
+ "grasp_51": {
251
+ "confidence": 0.9177114963531494,
252
+ "position": [
253
+ -0.006294193502981216,
254
+ -0.11450552224414423,
255
+ -0.005881363293156028
256
+ ],
257
+ "orientation": {
258
+ "w": 0.5113567831277949,
259
+ "xyz": [
260
+ -0.49659059434947317,
261
+ -0.5033190917536895,
262
+ -0.48844847612524195
263
+ ]
264
+ }
265
+ },
266
+ "grasp_52": {
267
+ "confidence": 0.9173107743263245,
268
+ "position": [
269
+ -0.005247867957223207,
270
+ -0.11466455488698557,
271
+ -0.003887734143063426
272
+ ],
273
+ "orientation": {
274
+ "w": 0.49633182812234705,
275
+ "xyz": [
276
+ -0.4933696620720315,
277
+ 0.5099814172980902,
278
+ 0.5001600213434597
279
+ ]
280
+ }
281
+ },
282
+ "grasp_53": {
283
+ "confidence": 0.9172511100769043,
284
+ "position": [
285
+ -0.003291218832600862,
286
+ -0.1093805658747442,
287
+ -0.002635544864460826
288
+ ],
289
+ "orientation": {
290
+ "w": 0.47956967514339593,
291
+ "xyz": [
292
+ -0.531726709524235,
293
+ -0.4727407868505582,
294
+ -0.5136105348503893
295
+ ]
296
+ }
297
+ },
298
+ "grasp_54": {
299
+ "confidence": 0.9131456613540649,
300
+ "position": [
301
+ -0.015685000747907907,
302
+ -0.11247451632516459,
303
+ -0.003204020904377103
304
+ ],
305
+ "orientation": {
306
+ "w": 0.4868239679702485,
307
+ "xyz": [
308
+ -0.5046717863110678,
309
+ 0.503684627183279,
310
+ 0.5045895447297126
311
+ ]
312
+ }
313
+ },
314
+ "grasp_55": {
315
+ "confidence": 0.9119197130203247,
316
+ "position": [
317
+ 0.006005670118611306,
318
+ -0.10923112212913111,
319
+ -0.00023829331621527672
320
+ ],
321
+ "orientation": {
322
+ "w": 0.5001245399532015,
323
+ "xyz": [
324
+ -0.5114890912662018,
325
+ -0.49724033860728056,
326
+ -0.4909240264175211
327
+ ]
328
+ }
329
+ },
330
+ "grasp_56": {
331
+ "confidence": 0.9116759896278381,
332
+ "position": [
333
+ -0.0036546087940223515,
334
+ -0.1079072731663473,
335
+ -0.004775554174557328
336
+ ],
337
+ "orientation": {
338
+ "w": 0.49984278697181955,
339
+ "xyz": [
340
+ -0.4878327934645723,
341
+ 0.5105623267572913,
342
+ 0.5015002137875696
343
+ ]
344
+ }
345
+ },
346
+ "grasp_57": {
347
+ "confidence": 0.9103575348854065,
348
+ "position": [
349
+ -0.006836524524260312,
350
+ -0.10435118555324152,
351
+ 0.002877107181120664
352
+ ],
353
+ "orientation": {
354
+ "w": 0.48227307981823636,
355
+ "xyz": [
356
+ -0.5070256753208937,
357
+ 0.5181405016669245,
358
+ 0.4918008352782382
359
+ ]
360
+ }
361
+ },
362
+ "grasp_58": {
363
+ "confidence": 0.9101762771606445,
364
+ "position": [
365
+ 0.008779094263445586,
366
+ -0.10507096379296854,
367
+ 0.013751808786764741
368
+ ],
369
+ "orientation": {
370
+ "w": 0.4330281224191246,
371
+ "xyz": [
372
+ -0.5636723354060168,
373
+ 0.5077490533898207,
374
+ 0.4867761726644343
375
+ ]
376
+ }
377
+ },
378
+ "grasp_59": {
379
+ "confidence": 0.9086710810661316,
380
+ "position": [
381
+ -0.020714569196570665,
382
+ -0.1133902448345907,
383
+ -0.003858944633975625
384
+ ],
385
+ "orientation": {
386
+ "w": 0.4978022559244429,
387
+ "xyz": [
388
+ -0.5078053074058541,
389
+ -0.4956835845342853,
390
+ -0.498622570478136
391
+ ]
392
+ }
393
+ }
394
+ }
395
+ },
396
+ {
397
+ "part_name": "inner lining",
398
+ "mask_color": "Cyan",
399
+ "graspable": false,
400
+ "grasp_scenarios": [],
401
+ "functional_labels": [
402
+ "contain items",
403
+ "form interior walls",
404
+ "protect contents from the outer shell",
405
+ "provide a clean inner surface"
406
+ ],
407
+ "semantic_description": "Light beige inner lining with a smooth matte fabric-like surface, forming the inside walls and upper interior of the rectangular storage cavity.",
408
+ "id": 6,
409
+ "grasp_group": {
410
+ "grasp_96": {
411
+ "confidence": 0.10867255926132202,
412
+ "position": [
413
+ 0.12440419261110947,
414
+ 0.007448772143106908,
415
+ 0.010322052286937833
416
+ ],
417
+ "orientation": {
418
+ "w": 0.6501077343268836,
419
+ "xyz": [
420
+ -0.2976257742035974,
421
+ -0.6303684670643437,
422
+ 0.3023481900541574
423
+ ]
424
+ }
425
+ },
426
+ "grasp_99": {
427
+ "confidence": 0.4084979295730591,
428
+ "position": [
429
+ -0.1299875297700055,
430
+ -0.03166190936462954,
431
+ -0.007463289191946387
432
+ ],
433
+ "orientation": {
434
+ "w": 0.5213328108620003,
435
+ "xyz": [
436
+ 0.37801871315084923,
437
+ 0.592731578759122,
438
+ 0.48371812904647393
439
+ ]
440
+ }
441
+ }
442
+ }
443
+ },
444
+ {
445
+ "part_name": "long side wall",
446
+ "mask_color": "Cyan",
447
+ "graspable": true,
448
+ "grasp_scenarios": [
449
+ {
450
+ "scenario": "grasp opposing outer long side walls to pick up the lightweight empty bin",
451
+ "confidence": 0.74
452
+ },
453
+ {
454
+ "scenario": "hold a long side wall to steady the bin while placing items inside",
455
+ "confidence": 0.63
456
+ }
457
+ ],
458
+ "functional_labels": [
459
+ "contain items",
460
+ "form the outer body",
461
+ "provide side support",
462
+ "present a broad contact surface"
463
+ ],
464
+ "semantic_description": "Broad white fabric side panel with orange-yellow circular dots and gray curved lines, a matte woven texture, slightly stiff structure, and a tall rectangular shape along the long side.",
465
+ "id": 6,
466
+ "grasp_group": {
467
+ "grasp_96": {
468
+ "confidence": 0.10867255926132202,
469
+ "position": [
470
+ 0.12440419261110947,
471
+ 0.007448772143106908,
472
+ 0.010322052286937833
473
+ ],
474
+ "orientation": {
475
+ "w": 0.6501077343268836,
476
+ "xyz": [
477
+ -0.2976257742035974,
478
+ -0.6303684670643437,
479
+ 0.3023481900541574
480
+ ]
481
+ }
482
+ },
483
+ "grasp_99": {
484
+ "confidence": 0.4084979295730591,
485
+ "position": [
486
+ -0.1299875297700055,
487
+ -0.03166190936462954,
488
+ -0.007463289191946387
489
+ ],
490
+ "orientation": {
491
+ "w": 0.5213328108620003,
492
+ "xyz": [
493
+ 0.37801871315084923,
494
+ 0.592731578759122,
495
+ 0.48371812904647393
496
+ ]
497
+ }
498
+ }
499
+ }
500
+ },
501
+ {
502
+ "part_name": "short end wall",
503
+ "mask_color": "Magenta",
504
+ "graspable": true,
505
+ "grasp_scenarios": [
506
+ {
507
+ "scenario": "grasp a short end wall to reposition the empty bin",
508
+ "confidence": 0.69
509
+ },
510
+ {
511
+ "scenario": "hold an end wall to stabilize the bin while sliding it",
512
+ "confidence": 0.57
513
+ }
514
+ ],
515
+ "functional_labels": [
516
+ "contain items",
517
+ "close the bin ends",
518
+ "provide end support",
519
+ "help stabilize the body"
520
+ ],
521
+ "semantic_description": "Short white fabric end panel with the same printed pattern, matte woven finish, soft-textured but semi-rigid form, located at each narrow end of the bin.",
522
+ "id": 7,
523
+ "grasp_group": {
524
+ "grasp_100": {
525
+ "confidence": 0.7317327857017517,
526
+ "position": [
527
+ 0.03972984914435074,
528
+ 0.11015450180275366,
529
+ 0.00503850425593555
530
+ ],
531
+ "orientation": {
532
+ "w": 0.579766270003659,
533
+ "xyz": [
534
+ 0.5919404074709329,
535
+ 0.3990996757578199,
536
+ -0.39267935389983755
537
+ ]
538
+ }
539
+ }
540
+ }
541
+ },
542
+ {
543
+ "part_name": "top rim binding",
544
+ "mask_color": "Purple",
545
+ "graspable": true,
546
+ "grasp_scenarios": [
547
+ {
548
+ "scenario": "pinch the reinforced top rim to adjust or straighten the storage bin opening",
549
+ "confidence": 0.71
550
+ },
551
+ {
552
+ "scenario": "grasp the rim edge to pull the bin slightly forward from storage",
553
+ "confidence": 0.61
554
+ }
555
+ ],
556
+ "functional_labels": [
557
+ "reinforce the opening",
558
+ "maintain shape",
559
+ "define the top edge",
560
+ "assist opening access"
561
+ ],
562
+ "semantic_description": "Thin dark green fabric binding around the opening, with a matte woven finish and a slightly firmer feel than the body panels.",
563
+ "id": 5,
564
+ "grasp_group": {
565
+ "grasp_67": {
566
+ "confidence": 0.43822118639945984,
567
+ "position": [
568
+ 0.06877191428793594,
569
+ -0.001228399749379605,
570
+ 0.10667589609511197
571
+ ],
572
+ "orientation": {
573
+ "w": 0.20368525544252525,
574
+ "xyz": [
575
+ 0.6330450707006819,
576
+ -0.7309789774489613,
577
+ -0.1530881762402059
578
+ ]
579
+ }
580
+ },
581
+ "grasp_71": {
582
+ "confidence": 0.7769851684570312,
583
+ "position": [
584
+ -0.12637885595904663,
585
+ 0.0015484302421100438,
586
+ 0.07079260353930295
587
+ ],
588
+ "orientation": {
589
+ "w": 0.34143436413943773,
590
+ "xyz": [
591
+ -0.6233334561700445,
592
+ 0.6035927597146379,
593
+ -0.3613222354407104
594
+ ]
595
+ }
596
+ },
597
+ "grasp_73": {
598
+ "confidence": 0.7211065292358398,
599
+ "position": [
600
+ 0.12175069813383743,
601
+ 0.0019316465477459133,
602
+ 0.07953468267805874
603
+ ],
604
+ "orientation": {
605
+ "w": 0.3505955853873143,
606
+ "xyz": [
607
+ 0.6260178709392605,
608
+ -0.6146015665501937,
609
+ -0.32779456244063876
610
+ ]
611
+ }
612
+ },
613
+ "grasp_74": {
614
+ "confidence": 0.7076147198677063,
615
+ "position": [
616
+ -0.12072811956750229,
617
+ -0.0022309818887151778,
618
+ 0.07748742704279721
619
+ ],
620
+ "orientation": {
621
+ "w": 0.345447163353001,
622
+ "xyz": [
623
+ -0.6105461333357646,
624
+ 0.6283691311007065,
625
+ -0.3362319310830758
626
+ ]
627
+ }
628
+ },
629
+ "grasp_78": {
630
+ "confidence": 0.4632425904273987,
631
+ "position": [
632
+ -0.09083840931998566,
633
+ -0.007497457147110254,
634
+ 0.10403947834856808
635
+ ],
636
+ "orientation": {
637
+ "w": 0.18635545296999373,
638
+ "xyz": [
639
+ -0.7604227140245219,
640
+ 0.5865854565667571,
641
+ -0.20723523659913287
642
+ ]
643
+ }
644
+ }
645
+ }
646
+ }
647
+ ],
648
+ "quality_check": {
649
+ "success": false,
650
+ "message": "Several mask colors and part identities are mismatched; front handle color/name and side-wall color assignments are incorrect."
651
+ }
652
+ }
dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bebab3cba996532520ed99c36c944bae4bd71690806c072e7e89c274c640121
3
+ size 3790380