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
ec299d8
·
verified ·
1 Parent(s): 5e0cdde

Add asset desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/affordance/affordance_annot.json +741 -0
  3. dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6204,3 +6204,4 @@ dataset/desktop_supplies/electronic_accessories/37a67e3643195ab88baa65fb7daa4686
6204
  dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6205
  dataset/desktop_supplies/electronic_accessories/3dad4b98f2945f9b95697f3dbb21b3ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6206
  dataset/desktop_supplies/electronic_accessories/486da1b9fbc95785a367c3086d36eaf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6204
  dataset/desktop_supplies/electronic_accessories/38486c467ec35c3aa81faad39a059dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6205
  dataset/desktop_supplies/electronic_accessories/3dad4b98f2945f9b95697f3dbb21b3ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6206
  dataset/desktop_supplies/electronic_accessories/486da1b9fbc95785a367c3086d36eaf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6207
+ dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/affordance/affordance_annot.json ADDED
@@ -0,0 +1,741 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cable jacket",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cable midsection to pick up and reposition the charging cable",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "hold the cable loop to route or untangle it",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "stabilize the cable body while aligning a connector with a port",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "transmit power through internal conductors",
23
+ "provide flexible reach",
24
+ "allow routing around obstacles",
25
+ "support handling and repositioning"
26
+ ],
27
+ "semantic_description": "Long black insulated cable with a matte finish and smooth slightly rubbery texture, forming a flexible loop that makes up most of the object's length.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_2": {
31
+ "confidence": 0.705946683883667,
32
+ "position": [
33
+ -0.03588011584361084,
34
+ 0.12412687577307224,
35
+ 0.014831850210612174
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3756163577555069,
39
+ "xyz": [
40
+ 0.4454817798424086,
41
+ 0.6090856305283046,
42
+ -0.5380269791551946
43
+ ]
44
+ }
45
+ },
46
+ "grasp_5": {
47
+ "confidence": 0.6307363510131836,
48
+ "position": [
49
+ 0.016778639488620684,
50
+ 0.13006842322647572,
51
+ -0.0015484835967072286
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5412042466857738,
55
+ "xyz": [
56
+ 0.4465195958398085,
57
+ 0.566902509197641,
58
+ -0.43167089196024827
59
+ ]
60
+ }
61
+ },
62
+ "grasp_15": {
63
+ "confidence": 0.21397556364536285,
64
+ "position": [
65
+ 0.020539159857435152,
66
+ 0.12468642927706242,
67
+ 0.0014473319970420562
68
+ ],
69
+ "orientation": {
70
+ "w": 0.6020750922234336,
71
+ "xyz": [
72
+ 0.3347367378331768,
73
+ -0.6388438668034546,
74
+ 0.34254257183094333
75
+ ]
76
+ }
77
+ }
78
+ }
79
+ },
80
+ {
81
+ "part_name": "USB-A connector housing",
82
+ "mask_color": "Yellow",
83
+ "graspable": true,
84
+ "grasp_scenarios": [
85
+ {
86
+ "scenario": "grasp the USB-A plug housing to insert or remove it from a USB port",
87
+ "confidence": 0.95
88
+ },
89
+ {
90
+ "scenario": "hold the connector housing to orient the plug before docking",
91
+ "confidence": 0.92
92
+ }
93
+ ],
94
+ "functional_labels": [
95
+ "provide a grip for connector handling",
96
+ "support plug insertion",
97
+ "support plug removal",
98
+ "indicate connector orientation"
99
+ ],
100
+ "semantic_description": "Small black plastic connector body with a mostly matte hard smooth surface and a rectangular shape at one cable end, attached just behind the USB-A metal plug.",
101
+ "id": 3,
102
+ "grasp_group": {
103
+ "grasp_41": {
104
+ "confidence": 0.8271058201789856,
105
+ "position": [
106
+ -0.012129738024668768,
107
+ -0.1328257154673338,
108
+ -0.00243053804297233
109
+ ],
110
+ "orientation": {
111
+ "w": 0.5636334602642941,
112
+ "xyz": [
113
+ -0.4145391684041136,
114
+ 0.566344185403394,
115
+ 0.4355787689833964
116
+ ]
117
+ }
118
+ },
119
+ "grasp_50": {
120
+ "confidence": 0.7026991248130798,
121
+ "position": [
122
+ 0.014453996875090525,
123
+ -0.13460050337016582,
124
+ 0.025088513175433036
125
+ ],
126
+ "orientation": {
127
+ "w": 0.3585488231275929,
128
+ "xyz": [
129
+ -0.4829929790226256,
130
+ -0.6384177205740396,
131
+ -0.48019093880009334
132
+ ]
133
+ }
134
+ },
135
+ "grasp_55": {
136
+ "confidence": 0.17502731084823608,
137
+ "position": [
138
+ -0.06034309140522964,
139
+ -0.07903453521430492,
140
+ 0.05099206035811221
141
+ ],
142
+ "orientation": {
143
+ "w": 0.45930744626038505,
144
+ "xyz": [
145
+ -0.7041198449025624,
146
+ 0.5058832528928743,
147
+ -0.1932202066727991
148
+ ]
149
+ }
150
+ },
151
+ "grasp_56": {
152
+ "confidence": 0.8190200924873352,
153
+ "position": [
154
+ -0.034564939356641844,
155
+ -0.11955502443015575,
156
+ 0.018673071543162223
157
+ ],
158
+ "orientation": {
159
+ "w": 0.5872867684997543,
160
+ "xyz": [
161
+ -0.5121643317041744,
162
+ 0.5876387648778976,
163
+ 0.2178591996861992
164
+ ]
165
+ }
166
+ }
167
+ }
168
+ },
169
+ {
170
+ "part_name": "USB-A metal plug",
171
+ "mask_color": "Blue",
172
+ "graspable": false,
173
+ "grasp_scenarios": [],
174
+ "functional_labels": [
175
+ "make electrical contact",
176
+ "plug into USB-A port",
177
+ "deliver charging power",
178
+ "provide keyed interface"
179
+ ],
180
+ "semantic_description": "Tiny silver metal rectangular plug tip with a reflective hard smooth surface, projecting from the USB-A connector housing at the cable end.",
181
+ "id": 2,
182
+ "grasp_group": {}
183
+ },
184
+ {
185
+ "part_name": "USB-C connector housing",
186
+ "mask_color": "Green",
187
+ "graspable": true,
188
+ "grasp_scenarios": [
189
+ {
190
+ "scenario": "grasp the USB-C plug housing to insert or unplug it from a device",
191
+ "confidence": 0.94
192
+ },
193
+ {
194
+ "scenario": "hold the connector housing to precisely orient the smaller plug near a charging port",
195
+ "confidence": 0.91
196
+ }
197
+ ],
198
+ "functional_labels": [
199
+ "provide a grip for connector handling",
200
+ "support plug insertion",
201
+ "support plug removal",
202
+ "position the charging tip"
203
+ ],
204
+ "semantic_description": "Small black plastic connector body with a matte hard smooth finish and compact rounded-rectangular shape at the opposite cable end, attached behind the smaller plug tip.",
205
+ "id": 1,
206
+ "grasp_group": {
207
+ "grasp_20": {
208
+ "confidence": 0.9083431363105774,
209
+ "position": [
210
+ 0.01829391808132641,
211
+ -0.12291534058749676,
212
+ -0.004293570855224971
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4154923701971393,
216
+ "xyz": [
217
+ -0.574689152606141,
218
+ 0.3875661591238887,
219
+ 0.588974482033607
220
+ ]
221
+ }
222
+ },
223
+ "grasp_22": {
224
+ "confidence": 0.8663598299026489,
225
+ "position": [
226
+ -0.03453551328857429,
227
+ -0.1302307229489088,
228
+ -0.002075822187180165
229
+ ],
230
+ "orientation": {
231
+ "w": 0.45826896304630704,
232
+ "xyz": [
233
+ -0.5306995244544652,
234
+ -0.4595185613756416,
235
+ -0.5451515972677026
236
+ ]
237
+ }
238
+ },
239
+ "grasp_23": {
240
+ "confidence": 0.8662519454956055,
241
+ "position": [
242
+ -0.04047161809285171,
243
+ -0.12917773239314556,
244
+ -0.006352301781589631
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5684713771887496,
248
+ "xyz": [
249
+ -0.4239072728747654,
250
+ 0.5463357450160308,
251
+ 0.44571310395677693
252
+ ]
253
+ }
254
+ },
255
+ "grasp_24": {
256
+ "confidence": 0.7989603281021118,
257
+ "position": [
258
+ -0.11460549107869156,
259
+ -0.004126908257603645,
260
+ 0.0015803224159753881
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6880612151523208,
264
+ "xyz": [
265
+ 0.061019575863313025,
266
+ 0.7108963238458003,
267
+ -0.1321922550949957
268
+ ]
269
+ }
270
+ },
271
+ "grasp_29": {
272
+ "confidence": 0.9223608374595642,
273
+ "position": [
274
+ -0.11689538232167251,
275
+ -0.038691023364663124,
276
+ -0.0023028385840007104
277
+ ],
278
+ "orientation": {
279
+ "w": 0.709782826126588,
280
+ "xyz": [
281
+ -0.012320496893319228,
282
+ 0.7033133354077761,
283
+ 0.037508630068885974
284
+ ]
285
+ }
286
+ },
287
+ "grasp_30": {
288
+ "confidence": 0.9149084687232971,
289
+ "position": [
290
+ 0.026319908880395815,
291
+ -0.12125658802688122,
292
+ -0.014138856997305993
293
+ ],
294
+ "orientation": {
295
+ "w": 0.4093301048837784,
296
+ "xyz": [
297
+ -0.5654657523127969,
298
+ 0.34985281946550806,
299
+ 0.6247402283423025
300
+ ]
301
+ }
302
+ },
303
+ "grasp_32": {
304
+ "confidence": 0.9075334072113037,
305
+ "position": [
306
+ -0.11069262496312149,
307
+ -0.05747629515826702,
308
+ -0.004511999992246274
309
+ ],
310
+ "orientation": {
311
+ "w": 0.7047087538503375,
312
+ "xyz": [
313
+ -0.08606033791824037,
314
+ 0.6994354091545814,
315
+ 0.08227574919054717
316
+ ]
317
+ }
318
+ },
319
+ "grasp_33": {
320
+ "confidence": 0.9014090299606323,
321
+ "position": [
322
+ 0.012583890900714323,
323
+ -0.12827598862349987,
324
+ -0.002150740103388671
325
+ ],
326
+ "orientation": {
327
+ "w": 0.5881333618822906,
328
+ "xyz": [
329
+ -0.452266876346302,
330
+ -0.5482369425969025,
331
+ -0.38599232631361213
332
+ ]
333
+ }
334
+ },
335
+ "grasp_34": {
336
+ "confidence": 0.8987969756126404,
337
+ "position": [
338
+ -0.08353536299546249,
339
+ -0.10227842442691326,
340
+ -0.001919967216963414
341
+ ],
342
+ "orientation": {
343
+ "w": 0.6391680457744738,
344
+ "xyz": [
345
+ -0.2931216983445731,
346
+ 0.6405366740347763,
347
+ 0.30863675807800306
348
+ ]
349
+ }
350
+ },
351
+ "grasp_35": {
352
+ "confidence": 0.897557258605957,
353
+ "position": [
354
+ -0.08975211254437454,
355
+ -0.0982272308319807,
356
+ -0.005255385862255935
357
+ ],
358
+ "orientation": {
359
+ "w": 0.6754528113172257,
360
+ "xyz": [
361
+ -0.25604111833206467,
362
+ 0.6520166622814872,
363
+ 0.23039252920663664
364
+ ]
365
+ }
366
+ },
367
+ "grasp_37": {
368
+ "confidence": 0.8950801491737366,
369
+ "position": [
370
+ -0.023262578091816977,
371
+ -0.12668399326503277,
372
+ -0.008960372862929944
373
+ ],
374
+ "orientation": {
375
+ "w": 0.5262084624819305,
376
+ "xyz": [
377
+ -0.4701967852749158,
378
+ 0.49461687950568856,
379
+ 0.5073201943916611
380
+ ]
381
+ }
382
+ }
383
+ }
384
+ },
385
+ {
386
+ "part_name": "USB-C metal plug",
387
+ "mask_color": "Orange",
388
+ "graspable": false,
389
+ "grasp_scenarios": [],
390
+ "functional_labels": [
391
+ "make electrical contact",
392
+ "plug into USB-C port",
393
+ "deliver charging power",
394
+ "provide reversible interface"
395
+ ],
396
+ "semantic_description": "Very small silver metal plug tip with a reflective smooth surface and rounded rectangular profile, protruding from the USB-C connector housing.",
397
+ "id": 4,
398
+ "grasp_group": {}
399
+ },
400
+ {
401
+ "part_name": "USB-A strain relief",
402
+ "mask_color": "Purple",
403
+ "graspable": true,
404
+ "grasp_scenarios": [
405
+ {
406
+ "scenario": "lightly pinch near the strain relief to guide the USB-A end during insertion",
407
+ "confidence": 0.41
408
+ },
409
+ {
410
+ "scenario": "stabilize the cable close to the connector while unplugging",
411
+ "confidence": 0.37
412
+ }
413
+ ],
414
+ "functional_labels": [
415
+ "reduce cable bending stress",
416
+ "protect wire entry point",
417
+ "stabilize connector transition"
418
+ ],
419
+ "semantic_description": "Short black flexible sleeve with a matte finish and slightly ribbed rubbery texture, located between the USB-A housing and the cable jacket.",
420
+ "id": 5,
421
+ "grasp_group": {
422
+ "grasp_61": {
423
+ "confidence": 0.8234235048294067,
424
+ "position": [
425
+ 0.11581886836211197,
426
+ 0.014033372048288584,
427
+ -0.005770578143710736
428
+ ],
429
+ "orientation": {
430
+ "w": 0.12533346924077932,
431
+ "xyz": [
432
+ 0.6891641641138305,
433
+ 0.157810608870106,
434
+ -0.6960173044669232
435
+ ]
436
+ }
437
+ },
438
+ "grasp_63": {
439
+ "confidence": 0.809292197227478,
440
+ "position": [
441
+ 0.030156233318848535,
442
+ -0.12025849334895611,
443
+ 0.03179641803581035
444
+ ],
445
+ "orientation": {
446
+ "w": 0.3997305519282283,
447
+ "xyz": [
448
+ -0.551063134968349,
449
+ -0.6227076307940427,
450
+ -0.38572025314323233
451
+ ]
452
+ }
453
+ },
454
+ "grasp_72": {
455
+ "confidence": 0.8590131402015686,
456
+ "position": [
457
+ 0.07419606574694626,
458
+ -0.11065622232854366,
459
+ -0.00614436073374236
460
+ ],
461
+ "orientation": {
462
+ "w": 0.36347608536315634,
463
+ "xyz": [
464
+ -0.5995017784456811,
465
+ 0.3469334092004406,
466
+ 0.6229927468198174
467
+ ]
468
+ }
469
+ },
470
+ "grasp_73": {
471
+ "confidence": 0.857608437538147,
472
+ "position": [
473
+ 0.11966293581645004,
474
+ -0.05443471483886242,
475
+ -0.00405971994769061
476
+ ],
477
+ "orientation": {
478
+ "w": 0.13260030244965892,
479
+ "xyz": [
480
+ -0.6927357923808328,
481
+ 0.08770749658808485,
482
+ 0.7034498395671221
483
+ ]
484
+ }
485
+ },
486
+ "grasp_74": {
487
+ "confidence": 0.8573533892631531,
488
+ "position": [
489
+ 0.05875858195940964,
490
+ -0.11986966244876385,
491
+ -0.005819880963827018
492
+ ],
493
+ "orientation": {
494
+ "w": 0.44552821351338767,
495
+ "xyz": [
496
+ -0.5978254595076034,
497
+ 0.3470812526786131,
498
+ 0.5688971216020844
499
+ ]
500
+ }
501
+ },
502
+ "grasp_78": {
503
+ "confidence": 0.8235394954681396,
504
+ "position": [
505
+ 0.06384562977473252,
506
+ -0.1127635296434164,
507
+ 0.022421056310122367
508
+ ],
509
+ "orientation": {
510
+ "w": 0.5063368227060814,
511
+ "xyz": [
512
+ -0.41230505114563376,
513
+ -0.6701512687685726,
514
+ -0.35288077836512904
515
+ ]
516
+ }
517
+ }
518
+ }
519
+ },
520
+ {
521
+ "part_name": "USB-C strain relief",
522
+ "mask_color": "Cyan",
523
+ "graspable": true,
524
+ "grasp_scenarios": [
525
+ {
526
+ "scenario": "lightly pinch near the strain relief to guide the USB-C end toward a port",
527
+ "confidence": 0.43
528
+ },
529
+ {
530
+ "scenario": "stabilize the cable close to the USB-C connector during unplugging",
531
+ "confidence": 0.39
532
+ }
533
+ ],
534
+ "functional_labels": [
535
+ "reduce cable bending stress",
536
+ "protect wire entry point",
537
+ "stabilize connector transition"
538
+ ],
539
+ "semantic_description": "Short black flexible sleeve with a matte finish and slightly ribbed rubbery texture, positioned between the USB-C housing and the main cable jacket.",
540
+ "id": 6,
541
+ "grasp_group": {
542
+ "grasp_80": {
543
+ "confidence": 0.7524260878562927,
544
+ "position": [
545
+ -0.030925423867302015,
546
+ -0.11773666553199291,
547
+ 0.013595106916909572
548
+ ],
549
+ "orientation": {
550
+ "w": 0.45708183877373565,
551
+ "xyz": [
552
+ -0.5921417882200563,
553
+ -0.5032405413071415,
554
+ -0.43265835585559936
555
+ ]
556
+ }
557
+ },
558
+ "grasp_82": {
559
+ "confidence": 0.8954346179962158,
560
+ "position": [
561
+ -0.12006675920565613,
562
+ -0.0007537351921200752,
563
+ -0.0036014775760122575
564
+ ],
565
+ "orientation": {
566
+ "w": 0.15742708624335872,
567
+ "xyz": [
568
+ 0.6794587513145778,
569
+ -0.0013405115641789145,
570
+ 0.7166245326582863
571
+ ]
572
+ }
573
+ },
574
+ "grasp_84": {
575
+ "confidence": 0.937288761138916,
576
+ "position": [
577
+ -0.11530760399182327,
578
+ -0.05394844524562359,
579
+ -0.013407813479716424
580
+ ],
581
+ "orientation": {
582
+ "w": 0.7252621818603602,
583
+ "xyz": [
584
+ -0.0385599715424411,
585
+ 0.6572909954715919,
586
+ 0.20118758269276923
587
+ ]
588
+ }
589
+ },
590
+ "grasp_88": {
591
+ "confidence": 0.9199930429458618,
592
+ "position": [
593
+ -0.12231354138930328,
594
+ -0.020258517935872078,
595
+ -0.005046031532401685
596
+ ],
597
+ "orientation": {
598
+ "w": 0.7123064275562168,
599
+ "xyz": [
600
+ -0.0010389671168161447,
601
+ 0.701867837903953,
602
+ 0.00010920375792691248
603
+ ]
604
+ }
605
+ },
606
+ "grasp_89": {
607
+ "confidence": 0.9106236696243286,
608
+ "position": [
609
+ -0.07521935275872238,
610
+ -0.10276766680181026,
611
+ -0.01210111389082158
612
+ ],
613
+ "orientation": {
614
+ "w": 0.6569514201432312,
615
+ "xyz": [
616
+ -0.3296917660956979,
617
+ 0.5807628500453004,
618
+ 0.34990381956725036
619
+ ]
620
+ }
621
+ },
622
+ "grasp_90": {
623
+ "confidence": 0.9098113179206848,
624
+ "position": [
625
+ -0.10182536861975677,
626
+ -0.08363614790141582,
627
+ -0.008899591957742814
628
+ ],
629
+ "orientation": {
630
+ "w": 0.6949038960274696,
631
+ "xyz": [
632
+ -0.26267515219484544,
633
+ 0.6339691423228901,
634
+ 0.21492665327417643
635
+ ]
636
+ }
637
+ },
638
+ "grasp_91": {
639
+ "confidence": 0.9057942628860474,
640
+ "position": [
641
+ -0.12142689249594696,
642
+ 0.012301854323595762,
643
+ -0.0036041667699464597
644
+ ],
645
+ "orientation": {
646
+ "w": 0.6960958544044524,
647
+ "xyz": [
648
+ 0.1411654939733737,
649
+ 0.6964475634890671,
650
+ -0.10238972654681104
651
+ ]
652
+ }
653
+ },
654
+ "grasp_95": {
655
+ "confidence": 0.9009721875190735,
656
+ "position": [
657
+ -0.08833355925162323,
658
+ -0.09449617378413677,
659
+ -0.0049900078229256906
660
+ ],
661
+ "orientation": {
662
+ "w": 0.6444195237065138,
663
+ "xyz": [
664
+ -0.2844362010027189,
665
+ 0.6398561488252476,
666
+ 0.30725174342147166
667
+ ]
668
+ }
669
+ },
670
+ "grasp_96": {
671
+ "confidence": 0.9008272886276245,
672
+ "position": [
673
+ -0.07545525304158218,
674
+ -0.10626818053424358,
675
+ -0.009224630986864213
676
+ ],
677
+ "orientation": {
678
+ "w": 0.6376520697847334,
679
+ "xyz": [
680
+ -0.3412789221243136,
681
+ 0.5901517633271108,
682
+ 0.35867733613209163
683
+ ]
684
+ }
685
+ },
686
+ "grasp_97": {
687
+ "confidence": 0.9006720185279846,
688
+ "position": [
689
+ -0.06680026373942383,
690
+ -0.10990185104310513,
691
+ -0.003440452135691885
692
+ ],
693
+ "orientation": {
694
+ "w": 0.6025893749738398,
695
+ "xyz": [
696
+ -0.370135516200261,
697
+ 0.5920365314587549,
698
+ 0.3864951361066395
699
+ ]
700
+ }
701
+ },
702
+ "grasp_98": {
703
+ "confidence": 0.9000189900398254,
704
+ "position": [
705
+ -0.053969268716173247,
706
+ -0.11351264081895351,
707
+ -0.004431385641510133
708
+ ],
709
+ "orientation": {
710
+ "w": 0.5792545389808784,
711
+ "xyz": [
712
+ -0.40065916418208436,
713
+ 0.567429867506663,
714
+ 0.4265674140019769
715
+ ]
716
+ }
717
+ },
718
+ "grasp_99": {
719
+ "confidence": 0.8991011381149292,
720
+ "position": [
721
+ -0.11316457859356888,
722
+ -0.052388159558176994,
723
+ -0.0024343860350199975
724
+ ],
725
+ "orientation": {
726
+ "w": 0.6924192466666063,
727
+ "xyz": [
728
+ -0.10174207615144118,
729
+ 0.7029994206483359,
730
+ 0.12647510171629722
731
+ ]
732
+ }
733
+ }
734
+ }
735
+ }
736
+ ],
737
+ "quality_check": {
738
+ "success": true,
739
+ "message": "YES"
740
+ }
741
+ }
dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:16b141b701951038e5109213daa487563b299ada242a935f231a863cf039c412
3
+ size 1414720