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
c6a4a3e
·
verified ·
1 Parent(s): 1b0ef7b

Add asset bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/affordance_annot.json +1555 -0
  3. dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/flashlight_003.urdf +2 -2
.gitattributes CHANGED
@@ -5908,3 +5908,4 @@ dataset/bedroom_supplies/small_electronics/46bb9dfc7ce85efab4247571da179c72/affo
5908
  dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5909
  dataset/bedroom_supplies/small_electronics/503a36ae4bed579f8a81e45f9b9266ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5910
  dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5908
  dataset/bedroom_supplies/small_electronics/4cb7a603e6f355218aa964f64cbb05fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5909
  dataset/bedroom_supplies/small_electronics/503a36ae4bed579f8a81e45f9b9266ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5910
  dataset/bedroom_supplies/small_electronics/528fd88312de521b9360bee78d4ff997/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5911
+ dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1555 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight body tube",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main tube to pick up and carry the flashlight",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the tube to aim the light direction",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the flashlight body while another tool presses the side switch",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal components",
24
+ "support aiming",
25
+ "connect head and tail sections"
26
+ ],
27
+ "semantic_description": "Long white cylindrical body made of hard plastic or painted metal with a mostly matte smooth surface, shallow longitudinal ribs, and mid-body brand text, forming the central largest section of the flashlight.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9874522089958191,
32
+ "position": [
33
+ 0.041388054785784334,
34
+ 0.003912791609764099,
35
+ 0.09670649276813492
36
+ ],
37
+ "orientation": {
38
+ "w": 0.19881736707597478,
39
+ "xyz": [
40
+ 0.006390369697053159,
41
+ -0.9799060825389819,
42
+ 0.014659028863404418
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9870534539222717,
48
+ "position": [
49
+ 0.09904017805820331,
50
+ 0.0005643218755722046,
51
+ 0.0218939128681086
52
+ ],
53
+ "orientation": {
54
+ "w": 0.6322716211200406,
55
+ "xyz": [
56
+ -0.004773146521214346,
57
+ -0.7745915716555424,
58
+ 0.01475504383994595
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9856340289115906,
64
+ "position": [
65
+ -0.012644001806620508,
66
+ -0.006507989019155502,
67
+ 0.10358840780099854
68
+ ],
69
+ "orientation": {
70
+ "w": 0.005206755653771458,
71
+ "xyz": [
72
+ -0.9955197941209492,
73
+ -0.041227103771642765,
74
+ -0.08493265051525664
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9853333830833435,
80
+ "position": [
81
+ 0.03729086503153667,
82
+ 0.000344080850481987,
83
+ -0.09590473218122497
84
+ ],
85
+ "orientation": {
86
+ "w": 0.9861798373101286,
87
+ "xyz": [
88
+ -0.0010951473679084915,
89
+ -0.16479405929376767,
90
+ 0.017060104240394808
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9845080375671387,
96
+ "position": [
97
+ 0.09618331998353824,
98
+ -0.004702389240264893,
99
+ 0.03357277618488297
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5908188013032997,
103
+ "xyz": [
104
+ -0.006266091952179681,
105
+ -0.8064367642789769,
106
+ 0.02352924430220085
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9841663837432861,
112
+ "position": [
113
+ 0.045137570647057146,
114
+ 0.016519159078598022,
115
+ 0.0948222185834311
116
+ ],
117
+ "orientation": {
118
+ "w": 0.21697286776614103,
119
+ "xyz": [
120
+ 0.010929025586527722,
121
+ -0.9760111495372394,
122
+ 0.014337609007858201
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9838362336158752,
128
+ "position": [
129
+ 0.10330713301664218,
130
+ 0.013948384672403336,
131
+ -0.014259368239436299
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7639971137724196,
135
+ "xyz": [
136
+ 0.01842838458896981,
137
+ -0.6448628998572395,
138
+ 0.01098385982090597
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9837318658828735,
144
+ "position": [
145
+ 0.03074372879927978,
146
+ 5.613081157207489e-05,
147
+ -0.0959523860947229
148
+ ],
149
+ "orientation": {
150
+ "w": 0.9897395566115342,
151
+ "xyz": [
152
+ 0.010457730958865298,
153
+ -0.14111866879090162,
154
+ 0.019793111435043354
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9834718704223633,
160
+ "position": [
161
+ 0.089065057632979,
162
+ -0.006668169051408768,
163
+ 0.05362867744406685
164
+ ],
165
+ "orientation": {
166
+ "w": 0.011651684689970904,
167
+ "xyz": [
168
+ 0.8624327337757114,
169
+ -0.03229141064223984,
170
+ -0.5050062205109683
171
+ ]
172
+ }
173
+ },
174
+ "grasp_30": {
175
+ "confidence": 0.9832272529602051,
176
+ "position": [
177
+ 0.0542789077735506,
178
+ 0.0024344678968191147,
179
+ 0.0909544806345366
180
+ ],
181
+ "orientation": {
182
+ "w": 0.2768082956659387,
183
+ "xyz": [
184
+ 0.000323155100693298,
185
+ -0.9608614856891263,
186
+ 0.01105750155251554
187
+ ]
188
+ }
189
+ },
190
+ "grasp_31": {
191
+ "confidence": 0.9826889038085938,
192
+ "position": [
193
+ -0.019850118609610945,
194
+ -0.005382688716053963,
195
+ 0.10023655550321564
196
+ ],
197
+ "orientation": {
198
+ "w": 0.09910650038938408,
199
+ "xyz": [
200
+ -0.01940572867730236,
201
+ 0.9948402147410795,
202
+ -0.009709088988929604
203
+ ]
204
+ }
205
+ },
206
+ "grasp_32": {
207
+ "confidence": 0.9824421405792236,
208
+ "position": [
209
+ -0.03107594564789906,
210
+ -0.013585458509624004,
211
+ 0.09808219032129273
212
+ ],
213
+ "orientation": {
214
+ "w": 0.017887787643985933,
215
+ "xyz": [
216
+ -0.9852872160668814,
217
+ -0.042382896919888335,
218
+ -0.1645989640218201
219
+ ]
220
+ }
221
+ },
222
+ "grasp_33": {
223
+ "confidence": 0.9823704957962036,
224
+ "position": [
225
+ -0.06156913802260533,
226
+ -9.848177433013916e-05,
227
+ 0.08123263524612412
228
+ ],
229
+ "orientation": {
230
+ "w": 0.32666355033858613,
231
+ "xyz": [
232
+ -0.008817048154299246,
233
+ 0.9450822409399104,
234
+ 0.005722097695145725
235
+ ]
236
+ }
237
+ },
238
+ "grasp_34": {
239
+ "confidence": 0.9823695421218872,
240
+ "position": [
241
+ -0.03753135591978207,
242
+ 0.0011209528893232346,
243
+ 0.09461642609676346
244
+ ],
245
+ "orientation": {
246
+ "w": 0.19145904153749072,
247
+ "xyz": [
248
+ -0.01563818137424595,
249
+ 0.9813389009544548,
250
+ -0.008534879633290755
251
+ ]
252
+ }
253
+ },
254
+ "grasp_35": {
255
+ "confidence": 0.9823012351989746,
256
+ "position": [
257
+ 0.020415720937307924,
258
+ 0.007874894887208939,
259
+ 0.1045924256904982
260
+ ],
261
+ "orientation": {
262
+ "w": 0.007875079328806921,
263
+ "xyz": [
264
+ 0.9945062212246912,
265
+ 0.020894906243140415,
266
+ -0.10226808868870478
267
+ ]
268
+ }
269
+ },
270
+ "grasp_36": {
271
+ "confidence": 0.9822186827659607,
272
+ "position": [
273
+ 0.07205742358928546,
274
+ -0.006367141380906105,
275
+ 0.07530471490463242
276
+ ],
277
+ "orientation": {
278
+ "w": 0.0037340597224115235,
279
+ "xyz": [
280
+ 0.9195083589865362,
281
+ -0.006774425371819659,
282
+ -0.3929943278378943
283
+ ]
284
+ }
285
+ },
286
+ "grasp_37": {
287
+ "confidence": 0.9819902181625366,
288
+ "position": [
289
+ 0.03574768587714061,
290
+ 0.013437643647193909,
291
+ 0.10022791282972321
292
+ ],
293
+ "orientation": {
294
+ "w": 0.007850967429066812,
295
+ "xyz": [
296
+ 0.9860133524236812,
297
+ 0.023148449506860708,
298
+ -0.16486412720197705
299
+ ]
300
+ }
301
+ },
302
+ "grasp_38": {
303
+ "confidence": 0.981903612613678,
304
+ "position": [
305
+ 0.002634512900840491,
306
+ 0.015377867966890335,
307
+ -0.10523947520414367
308
+ ],
309
+ "orientation": {
310
+ "w": 0.9997829087006556,
311
+ "xyz": [
312
+ 0.010531383229063261,
313
+ 0.009924399993200939,
314
+ 0.014991054736535316
315
+ ]
316
+ }
317
+ },
318
+ "grasp_39": {
319
+ "confidence": 0.9816216826438904,
320
+ "position": [
321
+ 0.09471656888490543,
322
+ 0.011190477758646011,
323
+ 0.034841785149183124
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5852357331930562,
327
+ "xyz": [
328
+ 0.014220856507168207,
329
+ -0.8106545344647321,
330
+ 0.011667458418884736
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "flashlight head bezel",
338
+ "mask_color": "Orange",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "grasp the head to orient the flashlight during placement or retrieval",
343
+ "confidence": 0.64
344
+ },
345
+ {
346
+ "scenario": "hold the head while stabilizing the body during manipulation",
347
+ "confidence": 0.5
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "protect front lens",
352
+ "frame the light opening",
353
+ "support front assembly",
354
+ "indicate illumination end"
355
+ ],
356
+ "semantic_description": "Large white faceted front housing of hard plastic or metal with a matte smooth finish and polygonal outer shape, positioned at the illumination end around the lens opening.",
357
+ "id": 4,
358
+ "grasp_group": {
359
+ "grasp_40": {
360
+ "confidence": 0.9676017761230469,
361
+ "position": [
362
+ 0.10260472953086719,
363
+ -0.046614907681941986,
364
+ -0.019883045984897763
365
+ ],
366
+ "orientation": {
367
+ "w": 0.009846244754887108,
368
+ "xyz": [
369
+ 0.6324372795667015,
370
+ 0.021400304354594724,
371
+ -0.774253295667527
372
+ ]
373
+ }
374
+ },
375
+ "grasp_41": {
376
+ "confidence": 0.96402508020401,
377
+ "position": [
378
+ 0.1052013760781847,
379
+ -0.05196968466043472,
380
+ -0.011913908703718334
381
+ ],
382
+ "orientation": {
383
+ "w": 0.015846261390537717,
384
+ "xyz": [
385
+ 0.6614807442561456,
386
+ 0.038726287800021075,
387
+ -0.7487939607205097
388
+ ]
389
+ }
390
+ },
391
+ "grasp_42": {
392
+ "confidence": 0.9635143280029297,
393
+ "position": [
394
+ 0.09972245752578601,
395
+ -0.04974689520895481,
396
+ -0.03761640755692497
397
+ ],
398
+ "orientation": {
399
+ "w": 0.01351561316929363,
400
+ "xyz": [
401
+ 0.5755045522351426,
402
+ 0.01613532603488088,
403
+ -0.8175276691409499
404
+ ]
405
+ }
406
+ },
407
+ "grasp_43": {
408
+ "confidence": 0.9598847031593323,
409
+ "position": [
410
+ 0.10966623335843906,
411
+ -0.046685611829161644,
412
+ -0.006839686131570488
413
+ ],
414
+ "orientation": {
415
+ "w": 0.7335106715907669,
416
+ "xyz": [
417
+ 0.02520661301073616,
418
+ -0.679169958960448,
419
+ 0.007408654982659201
420
+ ]
421
+ }
422
+ },
423
+ "grasp_44": {
424
+ "confidence": 0.9591445326805115,
425
+ "position": [
426
+ 0.01388982724165544,
427
+ -0.0577990747988224,
428
+ 0.10514133976539597
429
+ ],
430
+ "orientation": {
431
+ "w": 0.01806097125997472,
432
+ "xyz": [
433
+ -0.9976887059470299,
434
+ -0.02512448122533628,
435
+ 0.0604963452288253
436
+ ]
437
+ }
438
+ },
439
+ "grasp_45": {
440
+ "confidence": 0.9547690153121948,
441
+ "position": [
442
+ 0.10271548986202106,
443
+ -0.05711155757308006,
444
+ 0.03210007579764351
445
+ ],
446
+ "orientation": {
447
+ "w": 0.00815378084077107,
448
+ "xyz": [
449
+ 0.8032684048247011,
450
+ 0.025729413431687664,
451
+ -0.595005363801741
452
+ ]
453
+ }
454
+ },
455
+ "grasp_46": {
456
+ "confidence": 0.9516162872314453,
457
+ "position": [
458
+ -0.025806377234403044,
459
+ -0.05261959135532379,
460
+ 0.10197365836938843
461
+ ],
462
+ "orientation": {
463
+ "w": 0.13103100509225393,
464
+ "xyz": [
465
+ -0.004515725211602302,
466
+ 0.9912549887755726,
467
+ -0.014967670422180508
468
+ ]
469
+ }
470
+ },
471
+ "grasp_48": {
472
+ "confidence": 0.9509792327880859,
473
+ "position": [
474
+ 0.09865820914274082,
475
+ -0.0539440531283617,
476
+ 0.02639491664012894
477
+ ],
478
+ "orientation": {
479
+ "w": 0.019744380503764904,
480
+ "xyz": [
481
+ -0.7900009238895311,
482
+ -0.014940985056879907,
483
+ 0.6126054739044857
484
+ ]
485
+ }
486
+ },
487
+ "grasp_51": {
488
+ "confidence": 0.9488353729248047,
489
+ "position": [
490
+ 0.1013147211051546,
491
+ -0.05660548247396946,
492
+ 0.022885631711687893
493
+ ],
494
+ "orientation": {
495
+ "w": 0.014691018683868084,
496
+ "xyz": [
497
+ -0.7816442736140814,
498
+ -0.015469987987326461,
499
+ 0.6233595134174318
500
+ ]
501
+ }
502
+ },
503
+ "grasp_52": {
504
+ "confidence": 0.9486342668533325,
505
+ "position": [
506
+ 0.0972791588283144,
507
+ -0.0551528986543417,
508
+ 0.04197570862015709
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5423937898765444,
512
+ "xyz": [
513
+ 0.01822146395908055,
514
+ -0.8399176377555072,
515
+ 0.003913660914789149
516
+ ]
517
+ }
518
+ },
519
+ "grasp_56": {
520
+ "confidence": 0.9457377791404724,
521
+ "position": [
522
+ 0.09155651688342914,
523
+ -0.0477006696164608,
524
+ 0.045240597741212696
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5427732170551903,
528
+ "xyz": [
529
+ 0.0006371282326639579,
530
+ -0.839680503158076,
531
+ 0.018261476703015922
532
+ ]
533
+ }
534
+ },
535
+ "grasp_59": {
536
+ "confidence": 0.9412647485733032,
537
+ "position": [
538
+ 0.014810190943535417,
539
+ -0.050090694800019264,
540
+ 0.10177448199829087
541
+ ],
542
+ "orientation": {
543
+ "w": 0.02693263322670519,
544
+ "xyz": [
545
+ 0.995695645751375,
546
+ 0.023208169423775474,
547
+ -0.08559319582318166
548
+ ]
549
+ }
550
+ }
551
+ }
552
+ },
553
+ {
554
+ "part_name": "side power button",
555
+ "mask_color": "Green",
556
+ "graspable": false,
557
+ "grasp_scenarios": [],
558
+ "functional_labels": [
559
+ "switch power on and off",
560
+ "toggle flashlight operation",
561
+ "provide control input"
562
+ ],
563
+ "semantic_description": "Small round dark button set into the side near the head, likely rubber or plastic, with a slightly matte smooth surface and shallow protrusion for pressing.",
564
+ "id": 1,
565
+ "grasp_group": {}
566
+ },
567
+ {
568
+ "part_name": "switch collar",
569
+ "mask_color": "Teal",
570
+ "graspable": true,
571
+ "grasp_scenarios": [
572
+ {
573
+ "scenario": "pinch the collar to stabilize the flashlight near the switch during manipulation",
574
+ "confidence": 0.55
575
+ },
576
+ {
577
+ "scenario": "grasp near the collar for short-distance pickup when the main tube is obstructed",
578
+ "confidence": 0.4
579
+ }
580
+ ],
581
+ "functional_labels": [
582
+ "support switch area",
583
+ "provide grip texture",
584
+ "reinforce connection between head and body",
585
+ "indicate control region"
586
+ ],
587
+ "semantic_description": "Dark banded ring near the head, appearing black or very dark gray with a matte finish and ribbed texture, wrapping around the body as a medium-width collar.",
588
+ "id": 10,
589
+ "grasp_group": {
590
+ "grasp_100": {
591
+ "confidence": 0.9833396673202515,
592
+ "position": [
593
+ 0.07660601794486865,
594
+ -0.029680073261260986,
595
+ 0.07122789876302704
596
+ ],
597
+ "orientation": {
598
+ "w": 0.4088907651540324,
599
+ "xyz": [
600
+ -0.0012501457230015137,
601
+ -0.9124654279804899,
602
+ 0.01461581498930856
603
+ ]
604
+ }
605
+ },
606
+ "grasp_101": {
607
+ "confidence": 0.9796722531318665,
608
+ "position": [
609
+ 0.07771913468604907,
610
+ -0.044729650020599365,
611
+ 0.07094274269184098
612
+ ],
613
+ "orientation": {
614
+ "w": 0.005119853547712224,
615
+ "xyz": [
616
+ -0.9143697999173452,
617
+ -0.011317083261183525,
618
+ 0.40468948556297285
619
+ ]
620
+ }
621
+ },
622
+ "grasp_102": {
623
+ "confidence": 0.9795723557472229,
624
+ "position": [
625
+ 0.03538543119793758,
626
+ -0.03304740879684687,
627
+ 0.09798871533712372
628
+ ],
629
+ "orientation": {
630
+ "w": 0.18675622382470805,
631
+ "xyz": [
632
+ 0.007917757125531584,
633
+ -0.9821213309556489,
634
+ 0.022296037018745805
635
+ ]
636
+ }
637
+ },
638
+ "grasp_103": {
639
+ "confidence": 0.9780526757240295,
640
+ "position": [
641
+ 0.07443061232334003,
642
+ -0.03819437138736248,
643
+ 0.07753362314542755
644
+ ],
645
+ "orientation": {
646
+ "w": 0.007925264381883757,
647
+ "xyz": [
648
+ 0.9193049531971366,
649
+ -0.006378538035619441,
650
+ -0.3934144220338347
651
+ ]
652
+ }
653
+ },
654
+ "grasp_104": {
655
+ "confidence": 0.9778860807418823,
656
+ "position": [
657
+ 0.08846249192720279,
658
+ -0.0298361056484282,
659
+ 0.056298641429748386
660
+ ],
661
+ "orientation": {
662
+ "w": 0.0227042758052799,
663
+ "xyz": [
664
+ 0.8662696270381384,
665
+ -0.029533870154950403,
666
+ -0.498185908717853
667
+ ]
668
+ }
669
+ },
670
+ "grasp_106": {
671
+ "confidence": 0.9752898216247559,
672
+ "position": [
673
+ 0.06282917544012889,
674
+ -0.038944573141634464,
675
+ 0.082782065437641
676
+ ],
677
+ "orientation": {
678
+ "w": 0.0015925917045109008,
679
+ "xyz": [
680
+ -0.9473642195152884,
681
+ -0.0009011686680345798,
682
+ 0.3201525997534354
683
+ ]
684
+ }
685
+ },
686
+ "grasp_107": {
687
+ "confidence": 0.9719592332839966,
688
+ "position": [
689
+ 0.04139700293308124,
690
+ -0.03836296871304512,
691
+ 0.09690689103445038
692
+ ],
693
+ "orientation": {
694
+ "w": 0.010216967113355398,
695
+ "xyz": [
696
+ 0.9762029785657438,
697
+ 0.010538817165796827,
698
+ -0.21636148352957982
699
+ ]
700
+ }
701
+ },
702
+ "grasp_108": {
703
+ "confidence": 0.9717379808425903,
704
+ "position": [
705
+ -0.06431877851719037,
706
+ -0.030830982141196728,
707
+ -0.08304866595426574
708
+ ],
709
+ "orientation": {
710
+ "w": 0.050098246955110295,
711
+ "xyz": [
712
+ -0.3277874471033919,
713
+ 0.028812405954231957,
714
+ -0.9429821845807027
715
+ ]
716
+ }
717
+ },
718
+ "grasp_109": {
719
+ "confidence": 0.971038818359375,
720
+ "position": [
721
+ 0.09840138017898425,
722
+ -0.04315119981765747,
723
+ 0.03960779489716515
724
+ ],
725
+ "orientation": {
726
+ "w": 0.5603266405405174,
727
+ "xyz": [
728
+ 0.014907240806179617,
729
+ -0.8280757436392798,
730
+ 0.01011893612876958
731
+ ]
732
+ }
733
+ },
734
+ "grasp_110": {
735
+ "confidence": 0.9697169065475464,
736
+ "position": [
737
+ 0.021377527562435716,
738
+ -0.0316911693662405,
739
+ -0.10258831275859848
740
+ ],
741
+ "orientation": {
742
+ "w": 0.9970691716741457,
743
+ "xyz": [
744
+ 0.01708767208587164,
745
+ -0.07255383940038229,
746
+ 0.0172342318651614
747
+ ]
748
+ }
749
+ },
750
+ "grasp_111": {
751
+ "confidence": 0.9695956707000732,
752
+ "position": [
753
+ 0.10252585768466815,
754
+ -0.036817556247115135,
755
+ 0.0219442899688147
756
+ ],
757
+ "orientation": {
758
+ "w": 0.6244217341675703,
759
+ "xyz": [
760
+ 0.01230054973661109,
761
+ -0.7809141040509117,
762
+ 0.010925038659125095
763
+ ]
764
+ }
765
+ },
766
+ "grasp_113": {
767
+ "confidence": 0.9682109951972961,
768
+ "position": [
769
+ 0.01927931368118152,
770
+ -0.03424737695604563,
771
+ 0.0997878517373465
772
+ ],
773
+ "orientation": {
774
+ "w": 0.021884081944634575,
775
+ "xyz": [
776
+ 0.9943948922448578,
777
+ 0.008497138101534546,
778
+ -0.10309065854315681
779
+ ]
780
+ }
781
+ },
782
+ "grasp_114": {
783
+ "confidence": 0.9677020907402039,
784
+ "position": [
785
+ -0.09476112067932263,
786
+ -0.02882388001307845,
787
+ 0.04232812853297219
788
+ ],
789
+ "orientation": {
790
+ "w": 0.5557477434661798,
791
+ "xyz": [
792
+ 0.004982659443759139,
793
+ 0.8313069033696201,
794
+ -0.006960685823211718
795
+ ]
796
+ }
797
+ },
798
+ "grasp_117": {
799
+ "confidence": 0.9654126763343811,
800
+ "position": [
801
+ 0.09743182867532596,
802
+ -0.04219634458422661,
803
+ -0.027678202895913273
804
+ ],
805
+ "orientation": {
806
+ "w": 0.7984616703831481,
807
+ "xyz": [
808
+ 0.01676739832114156,
809
+ -0.6018079866404643,
810
+ 0.0022276665468703707
811
+ ]
812
+ }
813
+ },
814
+ "grasp_118": {
815
+ "confidence": 0.9652048349380493,
816
+ "position": [
817
+ -0.10515514254802838,
818
+ -0.04690852575004101,
819
+ 0.014639409200754017
820
+ ],
821
+ "orientation": {
822
+ "w": 0.6564334909309524,
823
+ "xyz": [
824
+ -0.0005432410720637764,
825
+ 0.754211445484073,
826
+ 0.01612055750171681
827
+ ]
828
+ }
829
+ },
830
+ "grasp_119": {
831
+ "confidence": 0.9645357728004456,
832
+ "position": [
833
+ -0.06779176235431805,
834
+ -0.041854371316730976,
835
+ -0.07975547952810302
836
+ ],
837
+ "orientation": {
838
+ "w": 0.930855519645906,
839
+ "xyz": [
840
+ 0.0062729206921803855,
841
+ 0.3649574296803736,
842
+ 0.016574876525472973
843
+ ]
844
+ }
845
+ }
846
+ }
847
+ },
848
+ {
849
+ "part_name": "rear grip ring",
850
+ "mask_color": "Magenta",
851
+ "graspable": true,
852
+ "grasp_scenarios": [
853
+ {
854
+ "scenario": "grasp the rear ring area to pull or slide the flashlight from a tight space",
855
+ "confidence": 0.53
856
+ },
857
+ {
858
+ "scenario": "use the rear ring as a secondary pinch location for reorientation",
859
+ "confidence": 0.47
860
+ }
861
+ ],
862
+ "functional_labels": [
863
+ "provide rear grip texture",
864
+ "mark tail section boundary",
865
+ "assist handling orientation"
866
+ ],
867
+ "semantic_description": "Narrow white ribbed ring near the tail end with a matte hard surface, slightly raised from the tube and serving as a textured transition band.",
868
+ "id": 7,
869
+ "grasp_group": {
870
+ "grasp_60": {
871
+ "confidence": 0.9807158708572388,
872
+ "position": [
873
+ 0.10484209418063983,
874
+ 0.07337383553385735,
875
+ -0.02077304950216785
876
+ ],
877
+ "orientation": {
878
+ "w": 0.7674151516223113,
879
+ "xyz": [
880
+ -0.01721926821776001,
881
+ -0.6409067579724224,
882
+ -0.004001180804405541
883
+ ]
884
+ }
885
+ },
886
+ "grasp_65": {
887
+ "confidence": 0.975205659866333,
888
+ "position": [
889
+ 0.1010548448539339,
890
+ 0.07955823466181755,
891
+ 0.016997355909552425
892
+ ],
893
+ "orientation": {
894
+ "w": 0.658961312439469,
895
+ "xyz": [
896
+ -0.0032120682947110687,
897
+ -0.7521492723645713,
898
+ 0.005580627811306729
899
+ ]
900
+ }
901
+ },
902
+ "grasp_66": {
903
+ "confidence": 0.9742205739021301,
904
+ "position": [
905
+ -0.10346494853729382,
906
+ 0.08551092073321342,
907
+ -0.023863650916609913
908
+ ],
909
+ "orientation": {
910
+ "w": 0.7825333509293353,
911
+ "xyz": [
912
+ 0.0011943878886103742,
913
+ 0.6225907185019549,
914
+ -0.004574424127425912
915
+ ]
916
+ }
917
+ },
918
+ "grasp_67": {
919
+ "confidence": 0.9736230969429016,
920
+ "position": [
921
+ 0.09579851984744892,
922
+ 0.12156447395682335,
923
+ 0.029437722580041736
924
+ ],
925
+ "orientation": {
926
+ "w": 0.1441741088965351,
927
+ "xyz": [
928
+ 0.7842440521536668,
929
+ 0.11353061112932239,
930
+ -0.5926937601511336
931
+ ]
932
+ }
933
+ },
934
+ "grasp_68": {
935
+ "confidence": 0.972082257270813,
936
+ "position": [
937
+ 0.09594104200368747,
938
+ 0.09282976761460304,
939
+ -0.03365936322370544
940
+ ],
941
+ "orientation": {
942
+ "w": 0.8140434139034617,
943
+ "xyz": [
944
+ 0.01691370955865364,
945
+ -0.5797209775949199,
946
+ 0.03115822276307147
947
+ ]
948
+ }
949
+ },
950
+ "grasp_69": {
951
+ "confidence": 0.9718711972236633,
952
+ "position": [
953
+ -0.08618482440942898,
954
+ 0.0794774703681469,
955
+ 0.06395811395486817
956
+ ],
957
+ "orientation": {
958
+ "w": 0.45134353959905865,
959
+ "xyz": [
960
+ -0.004099985653137128,
961
+ 0.8923152846106925,
962
+ 0.0067551632087176515
963
+ ]
964
+ }
965
+ },
966
+ "grasp_74": {
967
+ "confidence": 0.9683427214622498,
968
+ "position": [
969
+ 0.10264412820106372,
970
+ 0.08023485168814659,
971
+ -0.005634384287986904
972
+ ],
973
+ "orientation": {
974
+ "w": 0.7290010601827451,
975
+ "xyz": [
976
+ -0.007394782783343891,
977
+ -0.6844538465535411,
978
+ 0.005069849907262748
979
+ ]
980
+ }
981
+ },
982
+ "grasp_76": {
983
+ "confidence": 0.967268168926239,
984
+ "position": [
985
+ 0.07990015804534778,
986
+ 0.14005392417311668,
987
+ 0.031081629858817905
988
+ ],
989
+ "orientation": {
990
+ "w": 0.23646702020504146,
991
+ "xyz": [
992
+ 0.7781983440772001,
993
+ 0.16888818491187696,
994
+ -0.5567472196859397
995
+ ]
996
+ }
997
+ },
998
+ "grasp_79": {
999
+ "confidence": 0.9653879404067993,
1000
+ "position": [
1001
+ -0.09864597261184826,
1002
+ 0.07521067187190056,
1003
+ 0.04877898650011048
1004
+ ],
1005
+ "orientation": {
1006
+ "w": 0.5403642325857373,
1007
+ "xyz": [
1008
+ 0.0021253399526928634,
1009
+ 0.8414062584939934,
1010
+ 0.006122682357600723
1011
+ ]
1012
+ }
1013
+ }
1014
+ }
1015
+ },
1016
+ {
1017
+ "part_name": "tail cap end",
1018
+ "mask_color": "Blue",
1019
+ "graspable": true,
1020
+ "grasp_scenarios": [
1021
+ {
1022
+ "scenario": "grasp the tail end to lift or reposition the flashlight from the back",
1023
+ "confidence": 0.59
1024
+ },
1025
+ {
1026
+ "scenario": "hold the tail while stabilizing the flashlight for front-end manipulation",
1027
+ "confidence": 0.5
1028
+ }
1029
+ ],
1030
+ "functional_labels": [
1031
+ "close battery compartment",
1032
+ "provide rear contact surface",
1033
+ "support tail-end handling"
1034
+ ],
1035
+ "semantic_description": "Flat dark circular end cap, likely black plastic or rubber, with a matte smooth surface at the back of the flashlight, slightly smaller than the body diameter.",
1036
+ "id": 2,
1037
+ "grasp_group": {
1038
+ "grasp_0": {
1039
+ "confidence": 0.9663071632385254,
1040
+ "position": [
1041
+ 0.09703408688073978,
1042
+ 0.09464849159121513,
1043
+ 0.04502883361419663
1044
+ ],
1045
+ "orientation": {
1046
+ "w": 0.014013978823549841,
1047
+ "xyz": [
1048
+ 0.8331832391696739,
1049
+ -0.01930404120973117,
1050
+ -0.5524822642920191
1051
+ ]
1052
+ }
1053
+ },
1054
+ "grasp_1": {
1055
+ "confidence": 0.9578901529312134,
1056
+ "position": [
1057
+ 0.09595229983096942,
1058
+ 0.11957698687911034,
1059
+ -0.02182687824824825
1060
+ ],
1061
+ "orientation": {
1062
+ "w": 0.780103857030971,
1063
+ "xyz": [
1064
+ 0.0851007258858463,
1065
+ -0.6141977988775503,
1066
+ 0.08340804849099805
1067
+ ]
1068
+ }
1069
+ },
1070
+ "grasp_4": {
1071
+ "confidence": 0.9553398489952087,
1072
+ "position": [
1073
+ 0.0764835900045,
1074
+ 0.15639899298548698,
1075
+ 0.033567046688403934
1076
+ ],
1077
+ "orientation": {
1078
+ "w": 0.2485291142023582,
1079
+ "xyz": [
1080
+ 0.786258295431356,
1081
+ 0.16808722196406178,
1082
+ -0.5401646582955739
1083
+ ]
1084
+ }
1085
+ },
1086
+ "grasp_5": {
1087
+ "confidence": 0.9540568590164185,
1088
+ "position": [
1089
+ 0.09786218166118488,
1090
+ 0.10110243782401085,
1091
+ -0.020146418421063572
1092
+ ],
1093
+ "orientation": {
1094
+ "w": 0.7834780624022092,
1095
+ "xyz": [
1096
+ 0.007376614669635354,
1097
+ -0.6210954336069603,
1098
+ 0.018659411648731593
1099
+ ]
1100
+ }
1101
+ },
1102
+ "grasp_8": {
1103
+ "confidence": 0.9457325339317322,
1104
+ "position": [
1105
+ 0.0994650399661623,
1106
+ 0.09947289153933525,
1107
+ -0.015753256215248257
1108
+ ],
1109
+ "orientation": {
1110
+ "w": 0.7623142583920051,
1111
+ "xyz": [
1112
+ -0.003893701955278144,
1113
+ -0.6470982022580642,
1114
+ 0.011212812836797323
1115
+ ]
1116
+ }
1117
+ },
1118
+ "grasp_9": {
1119
+ "confidence": 0.9453287124633789,
1120
+ "position": [
1121
+ 0.08820789068704471,
1122
+ 0.09897122904658318,
1123
+ 0.0412275250419043
1124
+ ],
1125
+ "orientation": {
1126
+ "w": 0.5599752379772028,
1127
+ "xyz": [
1128
+ 0.010439640007551432,
1129
+ -0.8281085217116099,
1130
+ 0.02355892691741013
1131
+ ]
1132
+ }
1133
+ },
1134
+ "grasp_14": {
1135
+ "confidence": 0.9366278648376465,
1136
+ "position": [
1137
+ 0.0945216765976511,
1138
+ 0.1003211997449398,
1139
+ -0.019135672657284886
1140
+ ],
1141
+ "orientation": {
1142
+ "w": 0.7795378338048686,
1143
+ "xyz": [
1144
+ 0.014151272939774685,
1145
+ -0.6257932954642077,
1146
+ 0.022433423569373886
1147
+ ]
1148
+ }
1149
+ },
1150
+ "grasp_15": {
1151
+ "confidence": 0.9355474710464478,
1152
+ "position": [
1153
+ 0.07437264680629596,
1154
+ 0.15395333990454674,
1155
+ 0.027945384324993938
1156
+ ],
1157
+ "orientation": {
1158
+ "w": 0.5574561922178644,
1159
+ "xyz": [
1160
+ 0.1658997151269537,
1161
+ -0.7766450219083337,
1162
+ 0.2419553434494875
1163
+ ]
1164
+ }
1165
+ },
1166
+ "grasp_17": {
1167
+ "confidence": 0.9306854009628296,
1168
+ "position": [
1169
+ 0.09724624961381778,
1170
+ 0.1026398353278637,
1171
+ 0.02866045938571915
1172
+ ],
1173
+ "orientation": {
1174
+ "w": 0.6027414323141808,
1175
+ "xyz": [
1176
+ 0.012248152107014977,
1177
+ -0.797839351949459,
1178
+ 0.002262083703141483
1179
+ ]
1180
+ }
1181
+ }
1182
+ }
1183
+ },
1184
+ {
1185
+ "part_name": "front trim ring",
1186
+ "mask_color": "Pink",
1187
+ "graspable": false,
1188
+ "grasp_scenarios": [],
1189
+ "functional_labels": [
1190
+ "finish lens edge",
1191
+ "protect front rim",
1192
+ "retain front assembly"
1193
+ ],
1194
+ "semantic_description": "Thin light-colored rim around the front opening, appearing white or very pale gray, with a smooth hard surface tracing the bezel edge.",
1195
+ "id": 8,
1196
+ "grasp_group": {}
1197
+ },
1198
+ {
1199
+ "part_name": "inner reflector",
1200
+ "mask_color": "Cyan",
1201
+ "graspable": false,
1202
+ "grasp_scenarios": [],
1203
+ "functional_labels": [
1204
+ "reflect and shape light beam",
1205
+ "direct illumination forward",
1206
+ "support optical output"
1207
+ ],
1208
+ "semantic_description": "Shallow bright inner cone just inside the flashlight head, appearing silvery to white and smooth reflective, recessed behind the front rim.",
1209
+ "id": 6,
1210
+ "grasp_group": {}
1211
+ },
1212
+ {
1213
+ "part_name": "LED emitter area",
1214
+ "mask_color": "Purple",
1215
+ "graspable": false,
1216
+ "grasp_scenarios": [],
1217
+ "functional_labels": [
1218
+ "emit light",
1219
+ "serve as illumination source",
1220
+ "define beam origin"
1221
+ ],
1222
+ "semantic_description": "Small central recessed emitter region within the reflector at the optical center of the head, appearing dark purple to gray from the rendered views rather than metallic.",
1223
+ "id": 5,
1224
+ "grasp_group": {}
1225
+ },
1226
+ {
1227
+ "part_name": "body-to-head transition ring",
1228
+ "mask_color": "Lime Green",
1229
+ "graspable": true,
1230
+ "grasp_scenarios": [
1231
+ {
1232
+ "scenario": "use the small transition ring as a secondary pinch point near the head for brief stabilization",
1233
+ "confidence": 0.31
1234
+ }
1235
+ ],
1236
+ "functional_labels": [
1237
+ "join body and head sections",
1238
+ "provide a small grip transition",
1239
+ "visually separate front assembly"
1240
+ ],
1241
+ "semantic_description": "Slim light-colored ring between the main tube and darker collar near the head, with a hard matte surface and slightly raised cylindrical profile.",
1242
+ "id": 9,
1243
+ "grasp_group": {
1244
+ "grasp_80": {
1245
+ "confidence": 0.9873793125152588,
1246
+ "position": [
1247
+ -0.017632894741836935,
1248
+ -0.01936418004333973,
1249
+ 0.10462763713439927
1250
+ ],
1251
+ "orientation": {
1252
+ "w": 0.006047287576749364,
1253
+ "xyz": [
1254
+ -0.9938952789496449,
1255
+ -0.042064497728956304,
1256
+ -0.10181445292974042
1257
+ ]
1258
+ }
1259
+ },
1260
+ "grasp_81": {
1261
+ "confidence": 0.9863719344139099,
1262
+ "position": [
1263
+ 0.0917992940521799,
1264
+ -0.016505395993590355,
1265
+ 0.05044623644789681
1266
+ ],
1267
+ "orientation": {
1268
+ "w": 0.5169812312661216,
1269
+ "xyz": [
1270
+ -0.0019880595847801903,
1271
+ -0.8558669877809012,
1272
+ 0.014770015724416824
1273
+ ]
1274
+ }
1275
+ },
1276
+ "grasp_82": {
1277
+ "confidence": 0.9843579530715942,
1278
+ "position": [
1279
+ 0.09975355624919757,
1280
+ -0.01992317894473672,
1281
+ 0.036050422058906406
1282
+ ],
1283
+ "orientation": {
1284
+ "w": 0.567287259490864,
1285
+ "xyz": [
1286
+ 0.014189678791475317,
1287
+ -0.8233566029150362,
1288
+ 0.008229378551932514
1289
+ ]
1290
+ }
1291
+ },
1292
+ "grasp_83": {
1293
+ "confidence": 0.983120322227478,
1294
+ "position": [
1295
+ 0.09790201246505603,
1296
+ -0.01324901171028614,
1297
+ 0.027991985843982548
1298
+ ],
1299
+ "orientation": {
1300
+ "w": 0.6034397210232857,
1301
+ "xyz": [
1302
+ 0.008229108179692503,
1303
+ -0.7973127671230866,
1304
+ 0.009226930824116387
1305
+ ]
1306
+ }
1307
+ },
1308
+ "grasp_84": {
1309
+ "confidence": 0.9814064502716064,
1310
+ "position": [
1311
+ 0.015166371536906809,
1312
+ -0.011294648051261902,
1313
+ -0.10180650098482147
1314
+ ],
1315
+ "orientation": {
1316
+ "w": 0.018406381690741654,
1317
+ "xyz": [
1318
+ 0.06900856698696017,
1319
+ 0.023620839142294514,
1320
+ -0.9971665250867954
1321
+ ]
1322
+ }
1323
+ },
1324
+ "grasp_85": {
1325
+ "confidence": 0.9810009598731995,
1326
+ "position": [
1327
+ 0.10479720443254337,
1328
+ -0.014125019311904907,
1329
+ -0.003680796886328608
1330
+ ],
1331
+ "orientation": {
1332
+ "w": 0.7283285129390897,
1333
+ "xyz": [
1334
+ 0.011915318484412952,
1335
+ -0.6851241127430331,
1336
+ -0.000743346097666947
1337
+ ]
1338
+ }
1339
+ },
1340
+ "grasp_86": {
1341
+ "confidence": 0.979337215423584,
1342
+ "position": [
1343
+ 0.09291984647279605,
1344
+ -0.017836368642747402,
1345
+ 0.04256298945983872
1346
+ ],
1347
+ "orientation": {
1348
+ "w": 0.028189221917585206,
1349
+ "xyz": [
1350
+ -0.8421313489989547,
1351
+ -0.03215634721401106,
1352
+ 0.5375743001062585
1353
+ ]
1354
+ }
1355
+ },
1356
+ "grasp_87": {
1357
+ "confidence": 0.9790235757827759,
1358
+ "position": [
1359
+ 0.02942706405883655,
1360
+ -0.013665582984685898,
1361
+ 0.09716858522733673
1362
+ ],
1363
+ "orientation": {
1364
+ "w": 0.14849527957709377,
1365
+ "xyz": [
1366
+ 0.0017440009481301906,
1367
+ -0.9888360046334921,
1368
+ 0.012225642906861569
1369
+ ]
1370
+ }
1371
+ },
1372
+ "grasp_88": {
1373
+ "confidence": 0.978655219078064,
1374
+ "position": [
1375
+ 0.07630530506139621,
1376
+ -0.019208054058253765,
1377
+ 0.06671055959304795
1378
+ ],
1379
+ "orientation": {
1380
+ "w": 0.41486335661131357,
1381
+ "xyz": [
1382
+ 0.01293825929693455,
1383
+ -0.9097574887394455,
1384
+ 0.007893571438652578
1385
+ ]
1386
+ }
1387
+ },
1388
+ "grasp_89": {
1389
+ "confidence": 0.9786245226860046,
1390
+ "position": [
1391
+ 0.09897506743436679,
1392
+ -0.017217999324202538,
1393
+ -0.028898052929434925
1394
+ ],
1395
+ "orientation": {
1396
+ "w": 0.8069530147048338,
1397
+ "xyz": [
1398
+ 0.0150191839070501,
1399
+ -0.5904213750285643,
1400
+ 0.0019636911483402837
1401
+ ]
1402
+ }
1403
+ },
1404
+ "grasp_90": {
1405
+ "confidence": 0.9782249927520752,
1406
+ "position": [
1407
+ 0.10118503629928455,
1408
+ -0.01751510612666607,
1409
+ 0.01416716625681147
1410
+ ],
1411
+ "orientation": {
1412
+ "w": 0.6627982384336844,
1413
+ "xyz": [
1414
+ 0.009087950263623171,
1415
+ -0.7487257728908286,
1416
+ 0.005061748535985311
1417
+ ]
1418
+ }
1419
+ },
1420
+ "grasp_91": {
1421
+ "confidence": 0.977931559085846,
1422
+ "position": [
1423
+ 0.07241038739448413,
1424
+ -0.022549237124621868,
1425
+ 0.07105092512210831
1426
+ ],
1427
+ "orientation": {
1428
+ "w": 0.005675003005442971,
1429
+ "xyz": [
1430
+ 0.9132205419413942,
1431
+ -0.010597281753759125,
1432
+ -0.4072882685968084
1433
+ ]
1434
+ }
1435
+ },
1436
+ "grasp_92": {
1437
+ "confidence": 0.9765510559082031,
1438
+ "position": [
1439
+ -0.07116254657739773,
1440
+ -0.01979212323203683,
1441
+ 0.07562693016370758
1442
+ ],
1443
+ "orientation": {
1444
+ "w": 0.37670225707156163,
1445
+ "xyz": [
1446
+ -0.008657862551324589,
1447
+ 0.9262802597225512,
1448
+ 0.005033029063735253
1449
+ ]
1450
+ }
1451
+ },
1452
+ "grasp_93": {
1453
+ "confidence": 0.976509690284729,
1454
+ "position": [
1455
+ -0.09802006423706189,
1456
+ -0.02326089795678854,
1457
+ 0.0357772278948687
1458
+ ],
1459
+ "orientation": {
1460
+ "w": 0.03784153402305256,
1461
+ "xyz": [
1462
+ -0.8059007286019182,
1463
+ -0.006250340852324565,
1464
+ -0.5908070473351762
1465
+ ]
1466
+ }
1467
+ },
1468
+ "grasp_94": {
1469
+ "confidence": 0.9764257073402405,
1470
+ "position": [
1471
+ 0.025075412762816995,
1472
+ -0.01871108077466488,
1473
+ -0.09669339848915115
1474
+ ],
1475
+ "orientation": {
1476
+ "w": 0.9945998460984308,
1477
+ "xyz": [
1478
+ 0.009286619227127854,
1479
+ -0.10082395914636877,
1480
+ 0.022791097085448814
1481
+ ]
1482
+ }
1483
+ },
1484
+ "grasp_95": {
1485
+ "confidence": 0.9760563373565674,
1486
+ "position": [
1487
+ -0.09227527171606198,
1488
+ -0.01846003672108054,
1489
+ 0.049748239980544895
1490
+ ],
1491
+ "orientation": {
1492
+ "w": 0.5212038883605395,
1493
+ "xyz": [
1494
+ -0.0064414879098135215,
1495
+ 0.8533847654785185,
1496
+ 0.006281404344218734
1497
+ ]
1498
+ }
1499
+ },
1500
+ "grasp_96": {
1501
+ "confidence": 0.9748286008834839,
1502
+ "position": [
1503
+ 0.09298182785278186,
1504
+ -0.023210807470604777,
1505
+ -0.04033655492821708
1506
+ ],
1507
+ "orientation": {
1508
+ "w": 0.020733734712229644,
1509
+ "xyz": [
1510
+ -0.5471882927043431,
1511
+ -0.00028007628444437493,
1512
+ 0.8367526552867722
1513
+ ]
1514
+ }
1515
+ },
1516
+ "grasp_98": {
1517
+ "confidence": 0.9746005535125732,
1518
+ "position": [
1519
+ 0.058666502533014864,
1520
+ -0.01936472812667489,
1521
+ 0.08111547486623749
1522
+ ],
1523
+ "orientation": {
1524
+ "w": 0.31521493584184734,
1525
+ "xyz": [
1526
+ -0.0034292998169247026,
1527
+ -0.9490024318528896,
1528
+ 0.004708339652928872
1529
+ ]
1530
+ }
1531
+ },
1532
+ "grasp_99": {
1533
+ "confidence": 0.9743363261222839,
1534
+ "position": [
1535
+ 0.0964379882789217,
1536
+ -0.017833304591476917,
1537
+ -0.04646302206674591
1538
+ ],
1539
+ "orientation": {
1540
+ "w": 0.8520934451401716,
1541
+ "xyz": [
1542
+ 0.010578112949320536,
1543
+ -0.5232597535059538,
1544
+ 0.004908628777271435
1545
+ ]
1546
+ }
1547
+ }
1548
+ }
1549
+ }
1550
+ ],
1551
+ "quality_check": {
1552
+ "success": false,
1553
+ "message": "Several mask-color mappings and semantic descriptions are incorrect, especially tail/front ring colors and LED appearance."
1554
+ }
1555
+ }
dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12154532ada0faab47a0a70a7196e55db94b86b053d127aa6b36d0433fb9665e
3
+ size 3797516
dataset/bedroom_supplies/small_electronics/58b5cda01dd15ae0898fbf45ee078f11/flashlight_003.urdf CHANGED
@@ -47,7 +47,7 @@
47
  </link>
48
  <custom_data>
49
  <affordance>
50
- <part_count>12</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
@@ -57,7 +57,7 @@
57
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
- <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>
 
47
  </link>
48
  <custom_data>
49
  <affordance>
50
+ <part_count>11</part_count>
51
  <visual_seg>
52
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
53
  <geometry>
 
57
  <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
+ <PartSegChecker>YES</PartSegChecker>
61
  </quality>
62
  </custom_data>
63
  </robot>