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
bede721
·
verified ·
1 Parent(s): b8d7914

Add asset desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/affordance_annot.json +724 -0
  3. dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/correction_tape_037.urdf +1 -0
.gitattributes CHANGED
@@ -6297,3 +6297,4 @@ dataset/desktop_supplies/office_stationery/2faedaa2fd0d580a8c00f8d94877c446/affo
6297
  dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6298
  dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/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
 
 
6297
  dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6298
  dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/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
dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,724 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer casing side shell",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body from the sides to pick up and move the correction tape dispenser",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body while positioning the applicator tip onto paper",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the dispenser during use or placement on a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "enclose internal tape mechanism",
24
+ "support handling",
25
+ "protect internal parts",
26
+ "provide body structure"
27
+ ],
28
+ "semantic_description": "Large white plastic outer shell with a smooth semi-gloss finish, rounded teardrop-like shape, and layered-looking side edges; the broad side shows black PILOT branding with small red text.",
29
+ "id": 5,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9801374077796936,
33
+ "position": [
34
+ -0.001293444205657579,
35
+ -0.11596078937873244,
36
+ 0.04706993786385283
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5013436305572222,
40
+ "xyz": [
41
+ -0.8650185762519378,
42
+ 0.018067719414576633,
43
+ 0.008425221298594807
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9796818494796753,
49
+ "position": [
50
+ -0.006280149566009641,
51
+ -0.1098404130898416,
52
+ 0.05398020608117804
53
+ ],
54
+ "orientation": {
55
+ "w": 0.483622880818672,
56
+ "xyz": [
57
+ -0.8747389861748802,
58
+ -0.011454671389907245,
59
+ -0.028450056550741818
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9796391725540161,
65
+ "position": [
66
+ 0.006758615607395768,
67
+ -0.015214917715638876,
68
+ 0.09834383142879233
69
+ ],
70
+ "orientation": {
71
+ "w": 0.032900551438027656,
72
+ "xyz": [
73
+ 0.002384445402841276,
74
+ -0.9993700092060828,
75
+ -0.013093999947590921
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9781784415245056,
81
+ "position": [
82
+ 0.0002379759680479765,
83
+ -0.11257410561665893,
84
+ 0.05177217809250578
85
+ ],
86
+ "orientation": {
87
+ "w": 0.03423398565996213,
88
+ "xyz": [
89
+ -0.02343045707552031,
90
+ -0.8650600970959064,
91
+ -0.49995007382686396
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9766383171081543,
97
+ "position": [
98
+ -0.002235975698567927,
99
+ -0.015889508184045553,
100
+ 0.09876123530557379
101
+ ],
102
+ "orientation": {
103
+ "w": 0.001351161223685929,
104
+ "xyz": [
105
+ -0.02166097291886573,
106
+ -0.9991396612645409,
107
+ -0.035339976000759346
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9763494729995728,
113
+ "position": [
114
+ 0.004310536431148648,
115
+ -0.11725500738248229,
116
+ 0.043965001532342285
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5123477244375563,
120
+ "xyz": [
121
+ -0.8583901767721208,
122
+ -0.02431002357267409,
123
+ 0.008668127749481454
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9758027195930481,
129
+ "position": [
130
+ -0.01870695292018354,
131
+ -0.01825644774362445,
132
+ -0.10210562782594934
133
+ ],
134
+ "orientation": {
135
+ "w": 0.9955396433891859,
136
+ "xyz": [
137
+ 0.008036133901324408,
138
+ 0.09270844300960468,
139
+ -0.015536524295616326
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9747259020805359,
145
+ "position": [
146
+ -0.0019484165241010487,
147
+ 0.021013919729739428,
148
+ -0.09937649505445734
149
+ ],
150
+ "orientation": {
151
+ "w": 0.9990208445779356,
152
+ "xyz": [
153
+ 0.03716433915449324,
154
+ 0.019640797401908383,
155
+ -0.013798661942937539
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9744389653205872,
161
+ "position": [
162
+ -0.0024021698627620935,
163
+ -0.027558533009141684,
164
+ 0.09984639001777396
165
+ ],
166
+ "orientation": {
167
+ "w": 0.028927539925550194,
168
+ "xyz": [
169
+ -0.9994299469269968,
170
+ -0.016149837498384667,
171
+ -0.006493178584617281
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9744133949279785,
177
+ "position": [
178
+ 0.004039532272145152,
179
+ -0.11757097160443664,
180
+ 0.043986000993754715
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5105057599741909,
184
+ "xyz": [
185
+ -0.8596899884682604,
186
+ -0.013127529622008804,
187
+ 0.01202749876904745
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9739474058151245,
193
+ "position": [
194
+ 0.002319303108379245,
195
+ -0.06019707163795829,
196
+ 0.08582095516612753
197
+ ],
198
+ "orientation": {
199
+ "w": 0.023787716872729205,
200
+ "xyz": [
201
+ -0.018364577332421323,
202
+ -0.9659107791649609,
203
+ -0.2571249764576016
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9737139344215393,
209
+ "position": [
210
+ 0.002877388382330537,
211
+ 0.02234968403354287,
212
+ -0.09838415222475305
213
+ ],
214
+ "orientation": {
215
+ "w": 0.9992592550077011,
216
+ "xyz": [
217
+ 0.035965529591589565,
218
+ -0.0007121578068557399,
219
+ -0.013671678532964584
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9732807874679565,
225
+ "position": [
226
+ 0.0018225261010229588,
227
+ -0.014414239209145308,
228
+ -0.09920890169451013
229
+ ],
230
+ "orientation": {
231
+ "w": 0.9998576079894391,
232
+ "xyz": [
233
+ 0.0036316782193248367,
234
+ -0.00569495682758514,
235
+ -0.015464220823587695
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9730660915374756,
241
+ "position": [
242
+ -0.001002198550850153,
243
+ -0.06350138178095222,
244
+ 0.0843791933148168
245
+ ],
246
+ "orientation": {
247
+ "w": 0.006849669241083243,
248
+ "xyz": [
249
+ -0.016824234566314673,
250
+ -0.9649689888447923,
251
+ -0.2617343648251124
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9729368686676025,
257
+ "position": [
258
+ -0.0061851555947214365,
259
+ -0.06835306948050857,
260
+ 0.08482676459243521
261
+ ],
262
+ "orientation": {
263
+ "w": 0.26706236982168857,
264
+ "xyz": [
265
+ -0.9632588800602933,
266
+ 0.0018578134628924325,
267
+ -0.028400160903597687
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9727907180786133,
273
+ "position": [
274
+ -0.0016079649940365925,
275
+ -0.025462412741035223,
276
+ -0.10019047098467126
277
+ ],
278
+ "orientation": {
279
+ "w": 0.9998556133112807,
280
+ "xyz": [
281
+ 0.009628495979292198,
282
+ 0.011316077300239646,
283
+ -0.008245664899460074
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9727656841278076,
289
+ "position": [
290
+ 0.0016458637546747923,
291
+ -0.008636056911200285,
292
+ -0.1007266222150065
293
+ ],
294
+ "orientation": {
295
+ "w": 0.9998853792350557,
296
+ "xyz": [
297
+ 0.012655796094221454,
298
+ 0.0004434399683783674,
299
+ -0.008298347918996822
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9727333188056946,
305
+ "position": [
306
+ -0.004737995797768235,
307
+ -0.028292452450841665,
308
+ 0.09806836111238226
309
+ ],
310
+ "orientation": {
311
+ "w": 0.03129419721573935,
312
+ "xyz": [
313
+ -0.9986534855634456,
314
+ 0.03775629545337412,
315
+ -0.016921913196830226
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ },
321
+ {
322
+ "part_name": "top face panel",
323
+ "mask_color": "Navy",
324
+ "graspable": true,
325
+ "grasp_scenarios": [
326
+ {
327
+ "scenario": "press and hold the flat top face together with the opposite side to secure the dispenser",
328
+ "confidence": 0.72
329
+ },
330
+ {
331
+ "scenario": "use the flat face as a stabilizing contact surface while reorienting the dispenser",
332
+ "confidence": 0.68
333
+ }
334
+ ],
335
+ "functional_labels": [
336
+ "part of outer housing",
337
+ "provide flat contact surface",
338
+ "cover internal mechanism",
339
+ "support handling"
340
+ ],
341
+ "semantic_description": "Flat white upper face integrated into the housing, smooth semi-gloss plastic with an elongated rounded outline; this face appears plain without printed branding in the shown views.",
342
+ "id": 13,
343
+ "grasp_group": {
344
+ "grasp_41": {
345
+ "confidence": 0.9901801347732544,
346
+ "position": [
347
+ -0.08633736497722566,
348
+ 0.08540235692635179,
349
+ -3.916543209925294e-05
350
+ ],
351
+ "orientation": {
352
+ "w": 0.6848067410643137,
353
+ "xyz": [
354
+ 0.19609618165754011,
355
+ 0.6751869864507157,
356
+ -0.1915947500841504
357
+ ]
358
+ }
359
+ },
360
+ "grasp_42": {
361
+ "confidence": 0.9870744943618774,
362
+ "position": [
363
+ 0.10106005542911589,
364
+ 0.061658615712076426,
365
+ 0.004218042537104338
366
+ ],
367
+ "orientation": {
368
+ "w": 0.14863154088978717,
369
+ "xyz": [
370
+ 0.6989398067096918,
371
+ 0.17206223133894205,
372
+ -0.6780755121636606
373
+ ]
374
+ }
375
+ },
376
+ "grasp_46": {
377
+ "confidence": 0.9843460917472839,
378
+ "position": [
379
+ 0.10000834637321532,
380
+ 0.06347547704353929,
381
+ 0.0005828866833326174
382
+ ],
383
+ "orientation": {
384
+ "w": 0.6948732230207768,
385
+ "xyz": [
386
+ 0.17471012491684254,
387
+ -0.6797208233476648,
388
+ 0.1568667539277595
389
+ ]
390
+ }
391
+ },
392
+ "grasp_49": {
393
+ "confidence": 0.9785470366477966,
394
+ "position": [
395
+ -0.0914746371563524,
396
+ 0.07067452603951097,
397
+ 0.023149230459239334
398
+ ],
399
+ "orientation": {
400
+ "w": 0.1753096393328113,
401
+ "xyz": [
402
+ 0.7387996783449288,
403
+ -0.23473749263922172,
404
+ 0.6069101046974594
405
+ ]
406
+ }
407
+ },
408
+ "grasp_50": {
409
+ "confidence": 0.9783959984779358,
410
+ "position": [
411
+ -0.06279408535920084,
412
+ 0.10608412558212876,
413
+ 0.008808346407022327
414
+ ],
415
+ "orientation": {
416
+ "w": 0.33920691941477904,
417
+ "xyz": [
418
+ 0.6209784174377732,
419
+ -0.3554390547336297,
420
+ 0.6107270661004622
421
+ ]
422
+ }
423
+ },
424
+ "grasp_51": {
425
+ "confidence": 0.9748910665512085,
426
+ "position": [
427
+ -0.02608835115097463,
428
+ 0.12141756946220994,
429
+ 0.007657589332666248
430
+ ],
431
+ "orientation": {
432
+ "w": 0.44681292179302473,
433
+ "xyz": [
434
+ 0.5520637270476269,
435
+ -0.4713873174086688,
436
+ 0.5228554782952196
437
+ ]
438
+ }
439
+ },
440
+ "grasp_57": {
441
+ "confidence": 0.9650910496711731,
442
+ "position": [
443
+ 0.014612654456868768,
444
+ 0.12154952669516206,
445
+ 0.004175065958406776
446
+ ],
447
+ "orientation": {
448
+ "w": 0.47288497520641953,
449
+ "xyz": [
450
+ 0.5282605116232756,
451
+ 0.49682742817959913,
452
+ -0.5004829054942679
453
+ ]
454
+ }
455
+ },
456
+ "grasp_58": {
457
+ "confidence": 0.9562995433807373,
458
+ "position": [
459
+ -0.012863339623436332,
460
+ 0.12184856319800019,
461
+ 0.00835383398225531
462
+ ],
463
+ "orientation": {
464
+ "w": 0.47953032261582795,
465
+ "xyz": [
466
+ 0.5137094293373622,
467
+ -0.5090556852890897,
468
+ 0.49700664097846425
469
+ ]
470
+ }
471
+ }
472
+ }
473
+ },
474
+ {
475
+ "part_name": "applicator tip",
476
+ "mask_color": "Lime Green",
477
+ "graspable": true,
478
+ "grasp_scenarios": [
479
+ {
480
+ "scenario": "lightly pinch the tip area to orient the front end during inspection or maintenance",
481
+ "confidence": 0.31
482
+ },
483
+ {
484
+ "scenario": "hold the front tip carefully while clearing a tape jam or examining the applicator end",
485
+ "confidence": 0.28
486
+ }
487
+ ],
488
+ "functional_labels": [
489
+ "apply correction tape to paper",
490
+ "guide tape to contact point",
491
+ "define working end",
492
+ "support precise placement"
493
+ ],
494
+ "semantic_description": "Small white to translucent plastic protruding front tip at the narrow end, with a hard smooth surface and an angular forked applicator shape where the tape is dispensed.",
495
+ "id": 9,
496
+ "grasp_group": {
497
+ "grasp_20": {
498
+ "confidence": 0.9598520994186401,
499
+ "position": [
500
+ 0.1067367719952017,
501
+ -0.0470635793171823,
502
+ -0.005073649401310831
503
+ ],
504
+ "orientation": {
505
+ "w": 0.7171481978530828,
506
+ "xyz": [
507
+ -0.0016983681142296622,
508
+ -0.6959462216537088,
509
+ -0.036802641586575764
510
+ ]
511
+ }
512
+ },
513
+ "grasp_22": {
514
+ "confidence": 0.9708505272865295,
515
+ "position": [
516
+ 0.10256898426450789,
517
+ -0.05097480630502105,
518
+ -0.007622225268278271
519
+ ],
520
+ "orientation": {
521
+ "w": 0.7113678870756975,
522
+ "xyz": [
523
+ -0.03516918023848641,
524
+ -0.7010178056883655,
525
+ -0.035956836716813365
526
+ ]
527
+ }
528
+ },
529
+ "grasp_25": {
530
+ "confidence": 0.9372445940971375,
531
+ "position": [
532
+ -0.09659545845352113,
533
+ -0.04832141613587737,
534
+ -0.0013109773281030357
535
+ ],
536
+ "orientation": {
537
+ "w": 0.7024442101471827,
538
+ "xyz": [
539
+ -0.011512205376564525,
540
+ 0.7104809702588368,
541
+ 0.0406987918509924
542
+ ]
543
+ }
544
+ },
545
+ "grasp_28": {
546
+ "confidence": 0.9824541211128235,
547
+ "position": [
548
+ 0.0036021543201059103,
549
+ -0.14182878797873855,
550
+ 0.004027303715702146
551
+ ],
552
+ "orientation": {
553
+ "w": 0.49961407088209914,
554
+ "xyz": [
555
+ -0.5160503022487714,
556
+ -0.5174377983872827,
557
+ -0.465119329339999
558
+ ]
559
+ }
560
+ },
561
+ "grasp_29": {
562
+ "confidence": 0.9770968556404114,
563
+ "position": [
564
+ 0.08325298153795302,
565
+ -0.08972515678033233,
566
+ 0.021541682013776153
567
+ ],
568
+ "orientation": {
569
+ "w": 0.18508384234528902,
570
+ "xyz": [
571
+ -0.7619512361290779,
572
+ 0.16979346690119934,
573
+ 0.5969459470184431
574
+ ]
575
+ }
576
+ },
577
+ "grasp_31": {
578
+ "confidence": 0.9255305528640747,
579
+ "position": [
580
+ -0.008084714179858565,
581
+ -0.12823879485949874,
582
+ -0.04293906228849664
583
+ ],
584
+ "orientation": {
585
+ "w": 0.045500727771531246,
586
+ "xyz": [
587
+ -0.09732319755171032,
588
+ -0.5138370343533347,
589
+ -0.8511341733930913
590
+ ]
591
+ }
592
+ },
593
+ "grasp_32": {
594
+ "confidence": 0.8504543900489807,
595
+ "position": [
596
+ -0.014942815294489264,
597
+ -0.1315221614204347,
598
+ -0.041497345140669495
599
+ ],
600
+ "orientation": {
601
+ "w": 0.8419640065879342,
602
+ "xyz": [
603
+ -0.5177946566636077,
604
+ 0.1333947133633565,
605
+ 0.07204967444559922
606
+ ]
607
+ }
608
+ },
609
+ "grasp_33": {
610
+ "confidence": 0.7551681399345398,
611
+ "position": [
612
+ -0.038895405596122146,
613
+ -0.1292658275924623,
614
+ 0.030107474827673286
615
+ ],
616
+ "orientation": {
617
+ "w": 0.29718008911313143,
618
+ "xyz": [
619
+ -0.6728456635578122,
620
+ -0.4497249158115907,
621
+ -0.5066657752053283
622
+ ]
623
+ }
624
+ },
625
+ "grasp_34": {
626
+ "confidence": 0.7526980042457581,
627
+ "position": [
628
+ 0.006293200654909015,
629
+ -0.13226122921332717,
630
+ 0.04533593816449866
631
+ ],
632
+ "orientation": {
633
+ "w": 0.5080935876473747,
634
+ "xyz": [
635
+ -0.8602636041226049,
636
+ -0.04196691585912793,
637
+ 0.005120115904772897
638
+ ]
639
+ }
640
+ },
641
+ "grasp_36": {
642
+ "confidence": 0.990516722202301,
643
+ "position": [
644
+ 0.04408984282054007,
645
+ -0.12900295620784163,
646
+ -0.002643507265020162
647
+ ],
648
+ "orientation": {
649
+ "w": 0.36688338007281673,
650
+ "xyz": [
651
+ -0.6061722500735989,
652
+ 0.36408926157533983,
653
+ 0.6044756391059768
654
+ ]
655
+ }
656
+ },
657
+ "grasp_38": {
658
+ "confidence": 0.989415168762207,
659
+ "position": [
660
+ -0.00035077810753136873,
661
+ -0.13893632357940078,
662
+ -0.0034686686121858656
663
+ ],
664
+ "orientation": {
665
+ "w": 0.5044982785099845,
666
+ "xyz": [
667
+ -0.4972104069661925,
668
+ 0.4944609608149837,
669
+ 0.5037575373281256
670
+ ]
671
+ }
672
+ },
673
+ "grasp_39": {
674
+ "confidence": 0.9830001592636108,
675
+ "position": [
676
+ 0.0061000443529337645,
677
+ -0.13989868527278304,
678
+ -0.0038977335789240897
679
+ ],
680
+ "orientation": {
681
+ "w": 0.4981109133603855,
682
+ "xyz": [
683
+ -0.5018285202247749,
684
+ 0.4872902716584768,
685
+ 0.5124469196192942
686
+ ]
687
+ }
688
+ }
689
+ }
690
+ },
691
+ {
692
+ "part_name": "spool window ring",
693
+ "mask_color": "Orange",
694
+ "graspable": false,
695
+ "grasp_scenarios": [],
696
+ "functional_labels": [
697
+ "surround visible spool hub",
698
+ "expose internal spool area",
699
+ "indicate spool position"
700
+ ],
701
+ "semantic_description": "Small circular white ring around the visible central hub, made of smooth plastic and located near the rounded end of the housing.",
702
+ "id": 4,
703
+ "grasp_group": {}
704
+ },
705
+ {
706
+ "part_name": "central hub cap",
707
+ "mask_color": "Pink",
708
+ "graspable": false,
709
+ "grasp_scenarios": [],
710
+ "functional_labels": [
711
+ "cover central hub area",
712
+ "mark rotational center of spool assembly",
713
+ "part of visible spool hub detail"
714
+ ],
715
+ "semantic_description": "Tiny light gray to off-white central cap recessed at the center of the circular hub feature inside the spool window ring.",
716
+ "id": 8,
717
+ "grasp_group": {}
718
+ }
719
+ ],
720
+ "quality_check": {
721
+ "success": false,
722
+ "message": "Applicator tip color/material and hub/ring descriptions mismatch visible parts; mask-part mapping inconsistent across views."
723
+ }
724
+ }
dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf8810160e4b45e342f331524eafaa45be7c0ae7028b2ecc848e478ff25ef887
3
+ size 3795224
dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/correction_tape_037.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>