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
f480e17
·
verified ·
1 Parent(s): f5b9119

Add asset bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/affordance_annot.json +880 -0
  3. dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/flashlight_016.urdf +1 -0
.gitattributes CHANGED
@@ -5914,3 +5914,4 @@ dataset/bedroom_supplies/small_electronics/5f86afae4eed5ef6bcc734799e742d7f/affo
5914
  dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5915
  dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5916
  dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5914
  dataset/bedroom_supplies/small_electronics/6730b201cb8b5ddda258a0b96ba6ed7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5915
  dataset/bedroom_supplies/small_electronics/6b5b2d04bc53529a92a7348915f00a62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5916
  dataset/bedroom_supplies/small_electronics/6d44ee5623825ddf9f78171c731d1275/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5917
+ dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,880 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight body tube",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main body to pick up and carry the flashlight",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to aim the light during use",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the flashlight body while pressing the side switch",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal batteries",
24
+ "support handheld use",
25
+ "connect head and tail sections"
26
+ ],
27
+ "semantic_description": "Long cylindrical purple body tube with a smooth mostly matte finish, slight taper toward the head, medium size, and white printed branding/text on the side.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9860986471176147,
32
+ "position": [
33
+ 0.02009228803217411,
34
+ 0.00028106794707127847,
35
+ -0.10002975447787321
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7132208532017754,
39
+ "xyz": [
40
+ -0.00524352113860227,
41
+ 0.0065191078864133,
42
+ -0.700889450110762
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9856029748916626,
48
+ "position": [
49
+ 0.006833553314208984,
50
+ -0.008525979221303714,
51
+ -0.10181401206864393
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7120034078651784,
55
+ "xyz": [
56
+ -0.045426263302356544,
57
+ -0.01206492175714824,
58
+ -0.7006011985814405
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9849933385848999,
64
+ "position": [
65
+ 0.029922613874077797,
66
+ 0.021802399791340576,
67
+ 0.0983761371790024
68
+ ],
69
+ "orientation": {
70
+ "w": 0.07074385419717744,
71
+ "xyz": [
72
+ 0.7004404610755597,
73
+ 0.7057934750715528,
74
+ -0.07895592522418776
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9848161935806274,
80
+ "position": [
81
+ 0.02353641204535961,
82
+ 0.019046428165893303,
83
+ 0.101456460517511
84
+ ],
85
+ "orientation": {
86
+ "w": 0.07025227474092663,
87
+ "xyz": [
88
+ 0.7104068648970181,
89
+ 0.6977423897107696,
90
+ -0.05951690349488815
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9843920469284058,
96
+ "position": [
97
+ 0.027420302852988243,
98
+ -0.023157083876867546,
99
+ -0.093063044387236
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7213966926173915,
103
+ "xyz": [
104
+ -0.023173564286777932,
105
+ -0.13228117923705318,
106
+ -0.6793758072073148
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9841063618659973,
112
+ "position": [
113
+ 0.03071107156574726,
114
+ -0.03669104304208304,
115
+ -0.08862077726735151
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7017583154979667,
119
+ "xyz": [
120
+ -0.05219579014291284,
121
+ -0.20034363148775836,
122
+ -0.681669491354212
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9835562705993652,
128
+ "position": [
129
+ 0.019459905102849007,
130
+ -0.004478466213186039,
131
+ -0.09919212295426405
132
+ ],
133
+ "orientation": {
134
+ "w": 0.718502149950707,
135
+ "xyz": [
136
+ 0.024507948960836506,
137
+ -0.051703256812114184,
138
+ -0.6931672194997145
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9825656414031982,
144
+ "position": [
145
+ -0.003129716031253338,
146
+ -0.017575108893652214,
147
+ -0.09526876642121351
148
+ ],
149
+ "orientation": {
150
+ "w": 0.7061202787051457,
151
+ "xyz": [
152
+ -0.07541775254237762,
153
+ -0.02648098754686301,
154
+ -0.7035659684076303
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9823578596115112,
160
+ "position": [
161
+ 0.030450833961367607,
162
+ -0.05189585637344862,
163
+ -0.08055174632681883
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6804148007388149,
167
+ "xyz": [
168
+ -0.11368248799752717,
169
+ -0.2710810958872021,
170
+ -0.6712875913577161
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9821158647537231,
176
+ "position": [
177
+ 0.003895193338394165,
178
+ 0.09715880501971697,
179
+ 0.012489588905737037
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4516389926860095,
183
+ "xyz": [
184
+ 0.5540100296490484,
185
+ -0.4803312351333986,
186
+ 0.5083079892044302
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9817669987678528,
192
+ "position": [
193
+ 0.022336116060614586,
194
+ -0.02507827755107428,
195
+ -0.09641715421093977
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7008770595569963,
199
+ "xyz": [
200
+ -0.06847475684397775,
201
+ 0.09370411698342795,
202
+ 0.7037770197457802
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9817270040512085,
208
+ "position": [
209
+ 0.008400728926062584,
210
+ 0.00111359569200431,
211
+ -0.09838992639197386
212
+ ],
213
+ "orientation": {
214
+ "w": 0.7025996883578116,
215
+ "xyz": [
216
+ 0.008605708843897263,
217
+ 0.015224220166198288,
218
+ 0.7113703977641547
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9816417694091797,
224
+ "position": [
225
+ 0.025475094094872475,
226
+ 0.024352938420634018,
227
+ 0.10310210750685656
228
+ ],
229
+ "orientation": {
230
+ "w": 0.09624041421167577,
231
+ "xyz": [
232
+ 0.7047126362372865,
233
+ -0.6988437791675373,
234
+ 0.07573146848366999
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9804925322532654,
240
+ "position": [
241
+ 0.0031393878161907196,
242
+ -0.008532572053809417,
243
+ 0.10348414347754442
244
+ ],
245
+ "orientation": {
246
+ "w": 0.043130198974107734,
247
+ "xyz": [
248
+ -0.7252044551203422,
249
+ 0.6867304383114945,
250
+ 0.024891550907161334
251
+ ]
252
+ }
253
+ },
254
+ "grasp_35": {
255
+ "confidence": 0.9795333743095398,
256
+ "position": [
257
+ 0.01641799695789814,
258
+ -0.024201046191592468,
259
+ -0.10144782348288572
260
+ ],
261
+ "orientation": {
262
+ "w": 0.7096017784317693,
263
+ "xyz": [
264
+ -0.08739634153101378,
265
+ -0.07862798580694874,
266
+ -0.6947264464387456
267
+ ]
268
+ }
269
+ },
270
+ "grasp_36": {
271
+ "confidence": 0.9792062044143677,
272
+ "position": [
273
+ 0.04134194739162922,
274
+ -0.05379967343105818,
275
+ -0.08129608913077391
276
+ ],
277
+ "orientation": {
278
+ "w": 0.6982768519407434,
279
+ "xyz": [
280
+ -0.12379500930758926,
281
+ -0.26763762569757854,
282
+ -0.6522686064998233
283
+ ]
284
+ }
285
+ },
286
+ "grasp_37": {
287
+ "confidence": 0.9790062308311462,
288
+ "position": [
289
+ 0.01055322028696537,
290
+ -0.03342241745485808,
291
+ -0.09691859318627394
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7040242467789296,
295
+ "xyz": [
296
+ -0.08490091073909158,
297
+ 0.1257421680774783,
298
+ 0.6937799380712943
299
+ ]
300
+ }
301
+ },
302
+ "grasp_38": {
303
+ "confidence": 0.9790047407150269,
304
+ "position": [
305
+ 0.00874316692352295,
306
+ -0.1042132223774388,
307
+ -0.005263984228804475
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5137688615101357,
311
+ "xyz": [
312
+ -0.4898520998360048,
313
+ -0.4860728577778547,
314
+ -0.5097250770371273
315
+ ]
316
+ }
317
+ },
318
+ "grasp_39": {
319
+ "confidence": 0.978725016117096,
320
+ "position": [
321
+ 0.0012772809714078903,
322
+ 0.06815601933703874,
323
+ 0.06979775891886675
324
+ ],
325
+ "orientation": {
326
+ "w": 0.2791710059702351,
327
+ "xyz": [
328
+ 0.6670230933613238,
329
+ -0.637079741655328,
330
+ 0.26697030756366463
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "flashlight head",
338
+ "mask_color": "Red",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "grasp the head to orient the beam direction",
343
+ "confidence": 0.8
344
+ },
345
+ {
346
+ "scenario": "hold the head to stabilize the flashlight while manipulating the body",
347
+ "confidence": 0.68
348
+ }
349
+ ],
350
+ "functional_labels": [
351
+ "hold the lens and reflector",
352
+ "direct the light beam",
353
+ "protect the front optics",
354
+ "provide front-end structure"
355
+ ],
356
+ "semantic_description": "Wider purple front housing at the beam-emitting end with a matte finish and ribbed grip band around the outer side, surrounding the recessed front lens opening.",
357
+ "id": 0,
358
+ "grasp_group": {
359
+ "grasp_0": {
360
+ "confidence": 0.9615747332572937,
361
+ "position": [
362
+ -0.030491240322589874,
363
+ 0.10180156726346468,
364
+ -0.0072268522599188145
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5145735665654148,
368
+ "xyz": [
369
+ 0.4819795234975312,
370
+ 0.480941801210363,
371
+ -0.5211571426832532
372
+ ]
373
+ }
374
+ },
375
+ "grasp_1": {
376
+ "confidence": 0.9613540172576904,
377
+ "position": [
378
+ -0.03465697914361954,
379
+ -0.01956873711242224,
380
+ -0.10356849713934935
381
+ ],
382
+ "orientation": {
383
+ "w": 0.7091799655180239,
384
+ "xyz": [
385
+ -0.05440851920724813,
386
+ -0.05740852182867939,
387
+ -0.7005767275373739
388
+ ]
389
+ }
390
+ },
391
+ "grasp_2": {
392
+ "confidence": 0.961353600025177,
393
+ "position": [
394
+ -0.03392357379198074,
395
+ 0.003203833726729499,
396
+ 0.10655480341301882
397
+ ],
398
+ "orientation": {
399
+ "w": 0.01939504627346317,
400
+ "xyz": [
401
+ 0.7166154934154719,
402
+ 0.697072320584822,
403
+ -0.013275791932732971
404
+ ]
405
+ }
406
+ },
407
+ "grasp_3": {
408
+ "confidence": 0.9605826735496521,
409
+ "position": [
410
+ -0.057523755356669426,
411
+ 0.09788868624673341,
412
+ -0.010855558353796368
413
+ ],
414
+ "orientation": {
415
+ "w": 0.48986107339564466,
416
+ "xyz": [
417
+ 0.5341528983089949,
418
+ -0.3901475434046999,
419
+ 0.5678923351965979
420
+ ]
421
+ }
422
+ },
423
+ "grasp_5": {
424
+ "confidence": 0.9592798948287964,
425
+ "position": [
426
+ -0.032819438725709915,
427
+ 0.09831914354072069,
428
+ 0.008461978261038894
429
+ ],
430
+ "orientation": {
431
+ "w": 0.5004707265915609,
432
+ "xyz": [
433
+ 0.5212714412709049,
434
+ -0.4991340148627017,
435
+ 0.47819490957904204
436
+ ]
437
+ }
438
+ },
439
+ "grasp_6": {
440
+ "confidence": 0.9591082334518433,
441
+ "position": [
442
+ -0.04807151295244694,
443
+ 0.002344013442780124,
444
+ 0.09844543502913439
445
+ ],
446
+ "orientation": {
447
+ "w": 0.07155860498655069,
448
+ "xyz": [
449
+ 0.7021038030620648,
450
+ 0.7075092292055132,
451
+ 0.03688233136862215
452
+ ]
453
+ }
454
+ },
455
+ "grasp_7": {
456
+ "confidence": 0.956683874130249,
457
+ "position": [
458
+ -0.03778033144772053,
459
+ -0.0158745157350495,
460
+ -0.10068007095469511
461
+ ],
462
+ "orientation": {
463
+ "w": 0.706731068374975,
464
+ "xyz": [
465
+ -0.03391637827709242,
466
+ 0.06709774740548125,
467
+ 0.7034762032728908
468
+ ]
469
+ }
470
+ },
471
+ "grasp_9": {
472
+ "confidence": 0.9559991955757141,
473
+ "position": [
474
+ -0.04094149172306061,
475
+ 0.10171084899411653,
476
+ -0.0024297673044202384
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5120970280777166,
480
+ "xyz": [
481
+ 0.4866507014367081,
482
+ 0.49806810289742875,
483
+ -0.502847783629685
484
+ ]
485
+ }
486
+ },
487
+ "grasp_10": {
488
+ "confidence": 0.9555091857910156,
489
+ "position": [
490
+ -0.03599619306623936,
491
+ 0.0025233556698367465,
492
+ 0.10431840733872377
493
+ ],
494
+ "orientation": {
495
+ "w": 0.025533835870048698,
496
+ "xyz": [
497
+ 0.7121447050651754,
498
+ -0.7011495378506397,
499
+ 0.024233609826648496
500
+ ]
501
+ }
502
+ },
503
+ "grasp_12": {
504
+ "confidence": 0.954932689666748,
505
+ "position": [
506
+ -0.04882415197789669,
507
+ 0.0965321366857097,
508
+ -0.017164514425530797
509
+ ],
510
+ "orientation": {
511
+ "w": 0.55281873850769,
512
+ "xyz": [
513
+ 0.4588175663433469,
514
+ -0.43031816415319646,
515
+ 0.5465383433660967
516
+ ]
517
+ }
518
+ },
519
+ "grasp_13": {
520
+ "confidence": 0.9547705054283142,
521
+ "position": [
522
+ -0.03909856639802456,
523
+ 0.09717438418374513,
524
+ -0.01124276316477335
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5346463455427334,
528
+ "xyz": [
529
+ 0.4651696413911217,
530
+ 0.47307663261349353,
531
+ -0.5234204711328487
532
+ ]
533
+ }
534
+ },
535
+ "grasp_14": {
536
+ "confidence": 0.954498827457428,
537
+ "position": [
538
+ -0.020919018425047398,
539
+ -0.10117120992435957,
540
+ 0.009254344713554019
541
+ ],
542
+ "orientation": {
543
+ "w": 0.523831326224802,
544
+ "xyz": [
545
+ -0.4935010670238245,
546
+ -0.5320719089428725,
547
+ -0.4460458745754738
548
+ ]
549
+ }
550
+ },
551
+ "grasp_16": {
552
+ "confidence": 0.954014778137207,
553
+ "position": [
554
+ -0.04133952409029007,
555
+ 0.09547962296710466,
556
+ -0.01726886912001646
557
+ ],
558
+ "orientation": {
559
+ "w": 0.5467247595602287,
560
+ "xyz": [
561
+ 0.45458933447466254,
562
+ -0.4461638114893294,
563
+ 0.5434872837362502
564
+ ]
565
+ }
566
+ },
567
+ "grasp_17": {
568
+ "confidence": 0.952171802520752,
569
+ "position": [
570
+ -0.03148648515343666,
571
+ 0.10239408958659624,
572
+ -0.006427960961445933
573
+ ],
574
+ "orientation": {
575
+ "w": 0.5051638010984989,
576
+ "xyz": [
577
+ 0.4897456430891225,
578
+ 0.49086618449956065,
579
+ -0.5138181857912206
580
+ ]
581
+ }
582
+ },
583
+ "grasp_18": {
584
+ "confidence": 0.9521364569664001,
585
+ "position": [
586
+ -0.06060502119362354,
587
+ -0.002201659353886498,
588
+ 0.1044852332888695
589
+ ],
590
+ "orientation": {
591
+ "w": 0.09571392303089162,
592
+ "xyz": [
593
+ 0.7086563551062189,
594
+ 0.6919722042237217,
595
+ 0.09909330899394386
596
+ ]
597
+ }
598
+ },
599
+ "grasp_19": {
600
+ "confidence": 0.9515315294265747,
601
+ "position": [
602
+ -0.037660080939531326,
603
+ -0.002736986363743199,
604
+ -0.10122784509076155
605
+ ],
606
+ "orientation": {
607
+ "w": 0.7203726674811669,
608
+ "xyz": [
609
+ -0.029363097982689497,
610
+ 0.005548224008293801,
611
+ -0.6929431763379168
612
+ ]
613
+ }
614
+ }
615
+ }
616
+ },
617
+ {
618
+ "part_name": "tail cap rim",
619
+ "mask_color": "Pink",
620
+ "graspable": true,
621
+ "grasp_scenarios": [
622
+ {
623
+ "scenario": "grasp the tail end to reposition or pull the flashlight",
624
+ "confidence": 0.45
625
+ },
626
+ {
627
+ "scenario": "hold the tail cap while stabilizing the flashlight for manipulation",
628
+ "confidence": 0.4
629
+ }
630
+ ],
631
+ "functional_labels": [
632
+ "close the battery compartment",
633
+ "provide rear-end support surface",
634
+ "protect the back end"
635
+ ],
636
+ "semantic_description": "Flat circular purple tail cap ring at the rear of the flashlight with a smooth matte finish, forming the outer back closure around the central insert.",
637
+ "id": 8,
638
+ "grasp_group": {
639
+ "grasp_40": {
640
+ "confidence": 0.9342790842056274,
641
+ "position": [
642
+ 0.06796094216406345,
643
+ 0.009810904524783837,
644
+ 0.10420047209845507
645
+ ],
646
+ "orientation": {
647
+ "w": 0.03830099325977674,
648
+ "xyz": [
649
+ 0.7133480479631363,
650
+ 0.6975434916610864,
651
+ -0.05568369261963049
652
+ ]
653
+ }
654
+ },
655
+ "grasp_41": {
656
+ "confidence": 0.9290092587471008,
657
+ "position": [
658
+ 0.06516053713858128,
659
+ 0.010404143966297852,
660
+ 0.10626674161539995
661
+ ],
662
+ "orientation": {
663
+ "w": 0.03737575876522706,
664
+ "xyz": [
665
+ 0.7093867655146462,
666
+ 0.7015946334153107,
667
+ -0.056021780873404044
668
+ ]
669
+ }
670
+ },
671
+ "grasp_42": {
672
+ "confidence": 0.8955662846565247,
673
+ "position": [
674
+ 0.11941410042345524,
675
+ -0.0008076936173893046,
676
+ 0.08590950534926378
677
+ ],
678
+ "orientation": {
679
+ "w": 0.19612975549841982,
680
+ "xyz": [
681
+ -0.6742554528527517,
682
+ -0.6855814099586393,
683
+ 0.19206986652149552
684
+ ]
685
+ }
686
+ },
687
+ "grasp_44": {
688
+ "confidence": 0.8267514705657959,
689
+ "position": [
690
+ 0.10818436183035374,
691
+ 0.08464448947415804,
692
+ 0.030938747313484782
693
+ ],
694
+ "orientation": {
695
+ "w": 0.2900493187233586,
696
+ "xyz": [
697
+ 0.6586152187171948,
698
+ 0.45339904502330797,
699
+ -0.5258580534271294
700
+ ]
701
+ }
702
+ },
703
+ "grasp_45": {
704
+ "confidence": 0.8225207924842834,
705
+ "position": [
706
+ 0.12014679051935673,
707
+ -0.08828149687542464,
708
+ -0.01001766699118889
709
+ ],
710
+ "orientation": {
711
+ "w": 0.3598889783905379,
712
+ "xyz": [
713
+ -0.6025744621474718,
714
+ 0.3258122492089688,
715
+ 0.633427437885424
716
+ ]
717
+ }
718
+ },
719
+ "grasp_47": {
720
+ "confidence": 0.8037629127502441,
721
+ "position": [
722
+ 0.11244525946676731,
723
+ 0.08890631098256563,
724
+ -0.002239375167846447
725
+ ],
726
+ "orientation": {
727
+ "w": 0.6233209649915442,
728
+ "xyz": [
729
+ 0.3479577088725152,
730
+ -0.5931492747331997,
731
+ 0.37225037988117504
732
+ ]
733
+ }
734
+ },
735
+ "grasp_52": {
736
+ "confidence": 0.7601297497749329,
737
+ "position": [
738
+ 0.11276518739759922,
739
+ 0.07991606790528749,
740
+ -0.0127401845784334
741
+ ],
742
+ "orientation": {
743
+ "w": 0.41745936840151454,
744
+ "xyz": [
745
+ 0.5738084109622388,
746
+ 0.31103997801183725,
747
+ -0.6322386537702311
748
+ ]
749
+ }
750
+ },
751
+ "grasp_53": {
752
+ "confidence": 0.7410123348236084,
753
+ "position": [
754
+ 0.11126644350588322,
755
+ 0.07615625906692003,
756
+ -0.025207961934938794
757
+ ],
758
+ "orientation": {
759
+ "w": 0.439943939948872,
760
+ "xyz": [
761
+ 0.5430016507851076,
762
+ 0.2767595034742042,
763
+ -0.6595473555277309
764
+ ]
765
+ }
766
+ },
767
+ "grasp_56": {
768
+ "confidence": 0.6878068447113037,
769
+ "position": [
770
+ 0.11399505473673344,
771
+ -0.08814801227345015,
772
+ 0.03536787347184145
773
+ ],
774
+ "orientation": {
775
+ "w": 0.24938728406689722,
776
+ "xyz": [
777
+ -0.6736989309084642,
778
+ 0.4578958815088294,
779
+ 0.5237051601194903
780
+ ]
781
+ }
782
+ },
783
+ "grasp_57": {
784
+ "confidence": 0.6560714244842529,
785
+ "position": [
786
+ 0.11911697126924992,
787
+ 0.06806086797223543,
788
+ 0.05867184044109308
789
+ ],
790
+ "orientation": {
791
+ "w": 0.12710991709895247,
792
+ "xyz": [
793
+ 0.6976325656608594,
794
+ 0.527921545750322,
795
+ -0.46738711346926853
796
+ ]
797
+ }
798
+ },
799
+ "grasp_58": {
800
+ "confidence": 0.6464189291000366,
801
+ "position": [
802
+ 0.10721834190189838,
803
+ -0.06183012899055029,
804
+ 0.07044183180914843
805
+ ],
806
+ "orientation": {
807
+ "w": 0.39255855325785194,
808
+ "xyz": [
809
+ -0.5283294120781135,
810
+ -0.7352816250100708,
811
+ -0.16163770141846995
812
+ ]
813
+ }
814
+ },
815
+ "grasp_59": {
816
+ "confidence": 0.6076864004135132,
817
+ "position": [
818
+ 0.11895678378641605,
819
+ -0.07505289416803862,
820
+ 0.05304485650049173
821
+ ],
822
+ "orientation": {
823
+ "w": 0.15959889793259818,
824
+ "xyz": [
825
+ -0.69776141924147,
826
+ 0.5065158942091801,
827
+ 0.480727409776377
828
+ ]
829
+ }
830
+ }
831
+ }
832
+ },
833
+ {
834
+ "part_name": "tail insert",
835
+ "mask_color": "Green",
836
+ "graspable": false,
837
+ "grasp_scenarios": [],
838
+ "functional_labels": [
839
+ "rear contact area",
840
+ "end detail",
841
+ "seal or finish the tail end"
842
+ ],
843
+ "semantic_description": "Small circular rear insert centered within the tail cap, slightly recessed and appearing green in the mask but as a darker central end detail in the RGB views.",
844
+ "id": 1,
845
+ "grasp_group": {}
846
+ },
847
+ {
848
+ "part_name": "side switch button",
849
+ "mask_color": "Orange",
850
+ "graspable": false,
851
+ "grasp_scenarios": [],
852
+ "functional_labels": [
853
+ "turn the flashlight on or off",
854
+ "provide user input",
855
+ "control light operation"
856
+ ],
857
+ "semantic_description": "Small dark gray to black side button, slightly raised, oval-rectangular in shape, located on the side near the head for thumb pressing.",
858
+ "id": 4,
859
+ "grasp_group": {}
860
+ },
861
+ {
862
+ "part_name": "lens opening",
863
+ "mask_color": "Purple",
864
+ "graspable": false,
865
+ "grasp_scenarios": [],
866
+ "functional_labels": [
867
+ "emit light",
868
+ "cover the front optics",
869
+ "protect the reflector or LED"
870
+ ],
871
+ "semantic_description": "Circular front lens area recessed inside the head, clear to slightly whitish and glossy, centered at the front opening where the beam exits.",
872
+ "id": 5,
873
+ "grasp_group": {}
874
+ }
875
+ ],
876
+ "quality_check": {
877
+ "success": false,
878
+ "message": "Tail cap marked graspable though too small; lens opening function mismatched as opening cannot cover/protect optics."
879
+ }
880
+ }
dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f89f65a4d2a21d58a30aa8549e4684c094323ba60b894ffa2daa5cce480ec3e
3
+ size 3788516
dataset/bedroom_supplies/small_electronics/7476781502c95cba9c5a5562f4b8570c/flashlight_016.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>