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
aac21b6
·
verified ·
1 Parent(s): 0c46d40

Add asset desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/affordance/affordance_annot.json +698 -0
  3. dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6131,3 +6131,4 @@ dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/affordance
6131
  dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6132
  dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6133
  dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6131
  dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6132
  dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6133
  dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6134
+ dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/affordance/affordance_annot.json ADDED
@@ -0,0 +1,698 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tennis ball felt panel",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the ball on this panel to pick it up from a surface",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the ball on this panel to stabilize it during placement or handoff",
14
+ "confidence": 0.9
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "main grasp surface",
19
+ "provide bounce surface",
20
+ "provide rolling surface",
21
+ "form the ball shell"
22
+ ],
23
+ "semantic_description": "Curved bright yellow felt-covered rubber panel with a matte fuzzy texture, forming a large rounded section of the tennis ball shell around the seam.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9584819078445435,
28
+ "position": [
29
+ -0.08853358621126972,
30
+ 0.06206479109823704,
31
+ 0.0008677094883751124
32
+ ],
33
+ "orientation": {
34
+ "w": 0.6033241372909621,
35
+ "xyz": [
36
+ 0.044810466813491025,
37
+ 0.7084038065892898,
38
+ -0.36353274162842203
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9506843686103821,
44
+ "position": [
45
+ 0.10175662641995586,
46
+ -0.002616256708279252,
47
+ -0.0328847385244444
48
+ ],
49
+ "orientation": {
50
+ "w": 0.8015891839890188,
51
+ "xyz": [
52
+ 0.016864922719419577,
53
+ -0.5955927991552238,
54
+ -0.04939202453769278
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.9494598507881165,
60
+ "position": [
61
+ 0.01782312398427166,
62
+ 0.1057994868606329,
63
+ -0.010134743642993271
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5840994371206805,
67
+ "xyz": [
68
+ 0.4517677725833507,
69
+ -0.49323892247603474,
70
+ 0.4598359409235673
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.9492390751838684,
76
+ "position": [
77
+ -0.06921034897095524,
78
+ 0.07585782371461391,
79
+ 0.027502651209942997
80
+ ],
81
+ "orientation": {
82
+ "w": 0.5661319193117791,
83
+ "xyz": [
84
+ 0.34803727459737616,
85
+ 0.7119335507641535,
86
+ -0.22696987624690831
87
+ ]
88
+ }
89
+ },
90
+ "grasp_24": {
91
+ "confidence": 0.9462952017784119,
92
+ "position": [
93
+ 0.10100035523646511,
94
+ -0.03192387707531452,
95
+ -0.024143385817296803
96
+ ],
97
+ "orientation": {
98
+ "w": 0.76162370301641,
99
+ "xyz": [
100
+ -0.051115935787926566,
101
+ -0.6265589572645568,
102
+ -0.15729071550364063
103
+ ]
104
+ }
105
+ },
106
+ "grasp_25": {
107
+ "confidence": 0.9459794163703918,
108
+ "position": [
109
+ 0.04364857976906933,
110
+ -0.09983169473707676,
111
+ 0.007620508200488985
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5886481765677799,
115
+ "xyz": [
116
+ -0.43262511844611073,
117
+ -0.591899586025085,
118
+ -0.34056381366235844
119
+ ]
120
+ }
121
+ },
122
+ "grasp_26": {
123
+ "confidence": 0.9443953633308411,
124
+ "position": [
125
+ 0.08015693133347668,
126
+ -0.0713860783725977,
127
+ -0.010733775910921395
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7305857275928165,
131
+ "xyz": [
132
+ -0.32894108484103013,
133
+ -0.5806609316924335,
134
+ -0.14448231638285894
135
+ ]
136
+ }
137
+ },
138
+ "grasp_27": {
139
+ "confidence": 0.9398144483566284,
140
+ "position": [
141
+ 0.10496784900897183,
142
+ -0.01774594560265541,
143
+ -0.017979442258365452
144
+ ],
145
+ "orientation": {
146
+ "w": 0.16563823018621351,
147
+ "xyz": [
148
+ 0.6021882059137629,
149
+ -0.2326359871559477,
150
+ -0.7455292340606909
151
+ ]
152
+ }
153
+ },
154
+ "grasp_28": {
155
+ "confidence": 0.9385047554969788,
156
+ "position": [
157
+ 0.018348242767388,
158
+ -0.1040752250701189,
159
+ -0.018625903059728444
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6659552318808404,
163
+ "xyz": [
164
+ -0.48674451947525316,
165
+ -0.4158133547534172,
166
+ -0.38299171779563196
167
+ ]
168
+ }
169
+ },
170
+ "grasp_29": {
171
+ "confidence": 0.9366641640663147,
172
+ "position": [
173
+ -0.08715254659182392,
174
+ 0.06683826260268688,
175
+ 0.015461622620932758
176
+ ],
177
+ "orientation": {
178
+ "w": 0.634450127117497,
179
+ "xyz": [
180
+ 0.25296961205308927,
181
+ 0.706787558991047,
182
+ -0.18420303481153238
183
+ ]
184
+ }
185
+ },
186
+ "grasp_30": {
187
+ "confidence": 0.9363234639167786,
188
+ "position": [
189
+ 0.10394304399960674,
190
+ 0.009335292503237724,
191
+ 0.002741090371273458
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6924208005704701,
195
+ "xyz": [
196
+ 0.11055078397496318,
197
+ -0.7113352739697665,
198
+ -0.04831239081465379
199
+ ]
200
+ }
201
+ },
202
+ "grasp_31": {
203
+ "confidence": 0.9359741806983948,
204
+ "position": [
205
+ 0.1071203813480679,
206
+ 0.010767913423478603,
207
+ -0.022737699677236378
208
+ ],
209
+ "orientation": {
210
+ "w": 0.09864707100354246,
211
+ "xyz": [
212
+ 0.6348600334164315,
213
+ 0.002554227849837387,
214
+ -0.7662995297355997
215
+ ]
216
+ }
217
+ },
218
+ "grasp_32": {
219
+ "confidence": 0.9335084557533264,
220
+ "position": [
221
+ 0.10093324785702862,
222
+ 0.008178796619176865,
223
+ -0.026225841720588505
224
+ ],
225
+ "orientation": {
226
+ "w": 0.10596320549351408,
227
+ "xyz": [
228
+ 0.6193876150751346,
229
+ -0.014180239621446655,
230
+ -0.7777722688405357
231
+ ]
232
+ }
233
+ },
234
+ "grasp_33": {
235
+ "confidence": 0.9333008527755737,
236
+ "position": [
237
+ 0.10560646062367596,
238
+ 0.009893056005239487,
239
+ 0.007545770960859954
240
+ ],
241
+ "orientation": {
242
+ "w": 0.6773431268613289,
243
+ "xyz": [
244
+ 0.0003296816877512533,
245
+ -0.7336439715693813,
246
+ 0.05452249795824972
247
+ ]
248
+ }
249
+ },
250
+ "grasp_34": {
251
+ "confidence": 0.9293141961097717,
252
+ "position": [
253
+ -0.026410658232634887,
254
+ 0.10097494535148144,
255
+ 0.007446899428032339
256
+ ],
257
+ "orientation": {
258
+ "w": 0.5189998765797248,
259
+ "xyz": [
260
+ 0.4104855328676679,
261
+ 0.6040017268486859,
262
+ -0.4442101635266597
263
+ ]
264
+ }
265
+ },
266
+ "grasp_35": {
267
+ "confidence": 0.9291915893554688,
268
+ "position": [
269
+ -0.10544004882103764,
270
+ 0.005734638310968876,
271
+ 0.02283955260645598
272
+ ],
273
+ "orientation": {
274
+ "w": 0.6335123314705233,
275
+ "xyz": [
276
+ 0.00479057774819026,
277
+ 0.7731578577609617,
278
+ -0.02942963170174962
279
+ ]
280
+ }
281
+ },
282
+ "grasp_36": {
283
+ "confidence": 0.9254675507545471,
284
+ "position": [
285
+ 0.07177953576319851,
286
+ -0.08166359551250935,
287
+ -0.010623993468470871
288
+ ],
289
+ "orientation": {
290
+ "w": 0.3409736797344452,
291
+ "xyz": [
292
+ -0.6241722519988089,
293
+ 0.24561050978628207,
294
+ 0.6586512180552091
295
+ ]
296
+ }
297
+ },
298
+ "grasp_37": {
299
+ "confidence": 0.9250352382659912,
300
+ "position": [
301
+ 0.1008851022052113,
302
+ -0.0012269297149032354,
303
+ 0.02771486423444003
304
+ ],
305
+ "orientation": {
306
+ "w": 0.6053720806317735,
307
+ "xyz": [
308
+ 0.028232811080828236,
309
+ -0.7948731383053459,
310
+ -0.03007068956047077
311
+ ]
312
+ }
313
+ },
314
+ "grasp_38": {
315
+ "confidence": 0.9248858094215393,
316
+ "position": [
317
+ -0.10249133253819309,
318
+ 0.007057459093630314,
319
+ 0.022069212864153087
320
+ ],
321
+ "orientation": {
322
+ "w": 0.6232768219130432,
323
+ "xyz": [
324
+ 0.06249937384270153,
325
+ 0.7794354614208577,
326
+ 0.01000964609273211
327
+ ]
328
+ }
329
+ },
330
+ "grasp_39": {
331
+ "confidence": 0.9245889782905579,
332
+ "position": [
333
+ 0.078119696729118,
334
+ 0.0684251245111227,
335
+ 0.010952455806545913
336
+ ],
337
+ "orientation": {
338
+ "w": 0.624748576562102,
339
+ "xyz": [
340
+ 0.26885845248643575,
341
+ -0.6974919740443551,
342
+ 0.22563088164950812
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "tennis ball felt panel",
350
+ "mask_color": "Red",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp the ball on this panel to pick it up from a surface",
355
+ "confidence": 0.95
356
+ },
357
+ {
358
+ "scenario": "hold the ball on this panel to stabilize it during placement or handoff",
359
+ "confidence": 0.9
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "main grasp surface",
364
+ "provide bounce surface",
365
+ "provide rolling surface",
366
+ "form the ball shell"
367
+ ],
368
+ "semantic_description": "Curved bright yellow felt-covered rubber panel with a matte fuzzy texture, forming the other large rounded section of the tennis ball shell opposite the seam.",
369
+ "id": 0,
370
+ "grasp_group": {
371
+ "grasp_0": {
372
+ "confidence": 0.9510440826416016,
373
+ "position": [
374
+ 0.021180679701501504,
375
+ -0.0121953459456563,
376
+ 0.10463914729189128
377
+ ],
378
+ "orientation": {
379
+ "w": 0.12368096718178495,
380
+ "xyz": [
381
+ -0.7411129361617212,
382
+ -0.6582094341655803,
383
+ 0.04706352075819318
384
+ ]
385
+ }
386
+ },
387
+ "grasp_1": {
388
+ "confidence": 0.9354951977729797,
389
+ "position": [
390
+ -0.030394759349292144,
391
+ -0.0007011654088273644,
392
+ 0.10178475535940379
393
+ ],
394
+ "orientation": {
395
+ "w": 0.09998924805538925,
396
+ "xyz": [
397
+ 0.7063568946752637,
398
+ 0.6910239939234547,
399
+ 0.116395564520791
400
+ ]
401
+ }
402
+ },
403
+ "grasp_2": {
404
+ "confidence": 0.9352399706840515,
405
+ "position": [
406
+ 0.10461458718054928,
407
+ 0.004920145496726036,
408
+ 0.009203266235999763
409
+ ],
410
+ "orientation": {
411
+ "w": 0.4759988591654595,
412
+ "xyz": [
413
+ -0.5001946065093522,
414
+ -0.5360587181572325,
415
+ 0.4856660296744673
416
+ ]
417
+ }
418
+ },
419
+ "grasp_3": {
420
+ "confidence": 0.9329899549484253,
421
+ "position": [
422
+ 0.107566738181049,
423
+ -0.00044850772246718407,
424
+ -0.0183442059205845
425
+ ],
426
+ "orientation": {
427
+ "w": 0.5410988264206538,
428
+ "xyz": [
429
+ -0.4599975637007259,
430
+ -0.45640029012653216,
431
+ 0.5360159294349421
432
+ ]
433
+ }
434
+ },
435
+ "grasp_4": {
436
+ "confidence": 0.9304144978523254,
437
+ "position": [
438
+ 0.06253284370177425,
439
+ -0.08732233382761478,
440
+ 0.004188681836239994
441
+ ],
442
+ "orientation": {
443
+ "w": 0.6604283443047977,
444
+ "xyz": [
445
+ -0.6810595825219782,
446
+ -0.25866917542490764,
447
+ 0.18188596641525345
448
+ ]
449
+ }
450
+ },
451
+ "grasp_5": {
452
+ "confidence": 0.9293665885925293,
453
+ "position": [
454
+ -0.0010349502263125032,
455
+ 0.009372417815029621,
456
+ -0.10931074910331517
457
+ ],
458
+ "orientation": {
459
+ "w": 0.7538641530862358,
460
+ "xyz": [
461
+ 0.029783663215392525,
462
+ -0.021131306788412796,
463
+ 0.6560146644477227
464
+ ]
465
+ }
466
+ },
467
+ "grasp_6": {
468
+ "confidence": 0.9275538921356201,
469
+ "position": [
470
+ -0.0798644706082996,
471
+ -0.01427631638944149,
472
+ 0.07133199728559703
473
+ ],
474
+ "orientation": {
475
+ "w": 0.31597538947978043,
476
+ "xyz": [
477
+ -0.7061082763330966,
478
+ 0.5723529860265146,
479
+ -0.2719976373491826
480
+ ]
481
+ }
482
+ },
483
+ "grasp_7": {
484
+ "confidence": 0.9258854389190674,
485
+ "position": [
486
+ 0.08879688536399044,
487
+ -0.0003040222218260169,
488
+ -0.05824523710180074
489
+ ],
490
+ "orientation": {
491
+ "w": 0.684654106000272,
492
+ "xyz": [
493
+ -0.30204275285168747,
494
+ -0.3670290394001118,
495
+ 0.5525473869486446
496
+ ]
497
+ }
498
+ },
499
+ "grasp_8": {
500
+ "confidence": 0.92505943775177,
501
+ "position": [
502
+ -0.09039476359612308,
503
+ -0.005007981788367033,
504
+ -0.055111671914346516
505
+ ],
506
+ "orientation": {
507
+ "w": 0.5940440236314443,
508
+ "xyz": [
509
+ 0.344477536412721,
510
+ 0.3571510247188132,
511
+ 0.6331588034901577
512
+ ]
513
+ }
514
+ },
515
+ "grasp_9": {
516
+ "confidence": 0.9244014024734497,
517
+ "position": [
518
+ -0.04741829479462467,
519
+ -0.007544098421931267,
520
+ 0.09777618653606623
521
+ ],
522
+ "orientation": {
523
+ "w": 0.1913313854038492,
524
+ "xyz": [
525
+ -0.7131682036849797,
526
+ 0.6593943307761738,
527
+ -0.1413595796273633
528
+ ]
529
+ }
530
+ },
531
+ "grasp_10": {
532
+ "confidence": 0.9240643382072449,
533
+ "position": [
534
+ 0.09521798198693432,
535
+ 0.04518183879554272,
536
+ -0.012306235847063363
537
+ ],
538
+ "orientation": {
539
+ "w": 0.6596672491078264,
540
+ "xyz": [
541
+ 0.5360418071019304,
542
+ -0.40206174136473327,
543
+ -0.34035960045835034
544
+ ]
545
+ }
546
+ },
547
+ "grasp_11": {
548
+ "confidence": 0.9235153198242188,
549
+ "position": [
550
+ 0.10495551084750332,
551
+ -0.008899359963834286,
552
+ 0.0014445793349295855
553
+ ],
554
+ "orientation": {
555
+ "w": 0.4907468755870948,
556
+ "xyz": [
557
+ 0.4719951959487559,
558
+ -0.5288676350988748,
559
+ -0.5066429350614916
560
+ ]
561
+ }
562
+ },
563
+ "grasp_12": {
564
+ "confidence": 0.9228140711784363,
565
+ "position": [
566
+ 0.10388776814215817,
567
+ 0.010835967026650906,
568
+ -0.00020077329827472568
569
+ ],
570
+ "orientation": {
571
+ "w": 0.4997464972647053,
572
+ "xyz": [
573
+ 0.5544526219370659,
574
+ -0.43274907033129917,
575
+ -0.5055333526347864
576
+ ]
577
+ }
578
+ },
579
+ "grasp_13": {
580
+ "confidence": 0.9221686720848083,
581
+ "position": [
582
+ -0.03819933006889187,
583
+ -0.014819987118244171,
584
+ 0.09902402467560023
585
+ ],
586
+ "orientation": {
587
+ "w": 0.10036109282507878,
588
+ "xyz": [
589
+ 0.617008302312932,
590
+ 0.7582755255410065,
591
+ 0.18505845911327468
592
+ ]
593
+ }
594
+ },
595
+ "grasp_14": {
596
+ "confidence": 0.9190648198127747,
597
+ "position": [
598
+ 0.04867088203900494,
599
+ -0.071645462885499,
600
+ -0.06084322847891599
601
+ ],
602
+ "orientation": {
603
+ "w": 0.857086438206816,
604
+ "xyz": [
605
+ -0.42985724044139867,
606
+ -0.14842363607243236,
607
+ 0.24206613670048355
608
+ ]
609
+ }
610
+ },
611
+ "grasp_15": {
612
+ "confidence": 0.9151467680931091,
613
+ "position": [
614
+ 0.1027246356534306,
615
+ 0.001872435212135315,
616
+ -0.018735033576376736
617
+ ],
618
+ "orientation": {
619
+ "w": 0.6111610374613448,
620
+ "xyz": [
621
+ -0.3820575432911892,
622
+ -0.5098475233802663,
623
+ 0.4696485098522967
624
+ ]
625
+ }
626
+ },
627
+ "grasp_16": {
628
+ "confidence": 0.9148518443107605,
629
+ "position": [
630
+ 0.054805086605483666,
631
+ -0.044583527371287346,
632
+ -0.08014393143821508
633
+ ],
634
+ "orientation": {
635
+ "w": 0.26924221783752444,
636
+ "xyz": [
637
+ 0.20227510572801735,
638
+ -0.2887547582068116,
639
+ -0.896222126121408
640
+ ]
641
+ }
642
+ },
643
+ "grasp_17": {
644
+ "confidence": 0.9140514731407166,
645
+ "position": [
646
+ 0.0853681281732861,
647
+ -0.033144598826766014,
648
+ -0.06142286502290517
649
+ ],
650
+ "orientation": {
651
+ "w": 0.677918272897238,
652
+ "xyz": [
653
+ 0.15063444783769364,
654
+ -0.43890654704885224,
655
+ -0.5701728872493965
656
+ ]
657
+ }
658
+ },
659
+ "grasp_18": {
660
+ "confidence": 0.9137277007102966,
661
+ "position": [
662
+ 0.07216983442776836,
663
+ -0.07904395647346973,
664
+ 0.010530685889534652
665
+ ],
666
+ "orientation": {
667
+ "w": 0.6662434205924372,
668
+ "xyz": [
669
+ -0.5901534441574905,
670
+ -0.4515319218701632,
671
+ 0.06290898503852499
672
+ ]
673
+ }
674
+ },
675
+ "grasp_19": {
676
+ "confidence": 0.9123207926750183,
677
+ "position": [
678
+ 0.04216518407338299,
679
+ -0.09831578470766544,
680
+ -0.026557837729342282
681
+ ],
682
+ "orientation": {
683
+ "w": 0.244076764704638,
684
+ "xyz": [
685
+ 0.06805566423144291,
686
+ -0.6136773505391151,
687
+ -0.7477934667624649
688
+ ]
689
+ }
690
+ }
691
+ }
692
+ }
693
+ ],
694
+ "quality_check": {
695
+ "success": true,
696
+ "message": "YES"
697
+ }
698
+ }
dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f19251d1fad0ae9f89a2571510f3d654133dab35778f1837d068b97cea87f809
3
+ size 706396