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
3460b8a
·
verified ·
1 Parent(s): 9692285

Add asset desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4

Browse files
Files changed (3) hide show
  1. .gitattributes +2 -1
  2. dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/affordance_annot.json +762 -0
  3. dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6361,4 +6361,5 @@ dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/affo
6361
  dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6362
  dataset/desktop_supplies/office_stationery/6b925daa578c57aeb0f7cde50ef4cdb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6363
  dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6364
- dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6361
  dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6362
  dataset/desktop_supplies/office_stationery/6b925daa578c57aeb0f7cde50ef4cdb4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6363
  dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6364
+ dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6365
+ dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,762 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "main cylindrical body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the large cylindrical body to pick up and move the correction tape dispenser",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the tool while applying tape",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "reorient the dispenser by clamping around the body",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal tape mechanism",
24
+ "support one-handed dispensing",
25
+ "provide structural enclosure"
26
+ ],
27
+ "semantic_description": "Large white plastic cylindrical body with a smooth matte finish, rounded sides, and printed M&G branding on one side, forming most of the dispenser's rear volume.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9863992929458618,
32
+ "position": [
33
+ 0.09127657802309841,
34
+ 0.029289096128195524,
35
+ 0.04018202028237283
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5594948694760938,
39
+ "xyz": [
40
+ 0.019392625992817516,
41
+ -0.8282041170947321,
42
+ 0.025833263718840337
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9861223101615906,
48
+ "position": [
49
+ 0.09844522119965404,
50
+ -0.012740456964820623,
51
+ 0.023057820042595267
52
+ ],
53
+ "orientation": {
54
+ "w": 0.03949753905222877,
55
+ "xyz": [
56
+ -0.7873206355444438,
57
+ -0.018112664064888095,
58
+ 0.615010644342993
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9858712553977966,
64
+ "position": [
65
+ 0.09837283880915493,
66
+ 0.00846555782482028,
67
+ 0.0004418444586917758
68
+ ],
69
+ "orientation": {
70
+ "w": 0.031354724969800934,
71
+ "xyz": [
72
+ -0.7081432121832097,
73
+ -0.00911386445793294,
74
+ 0.7053134124171722
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9855648875236511,
80
+ "position": [
81
+ 0.09688254387583584,
82
+ 0.01424415921792388,
83
+ 0.016448955750092864
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6496940223544277,
87
+ "xyz": [
88
+ -0.012635223251073496,
89
+ -0.7600906882724534,
90
+ -0.0004171951917093813
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9854309558868408,
96
+ "position": [
97
+ 0.09347560198511928,
98
+ -0.020074052270501852,
99
+ 0.0311099027749151
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5979926396705109,
103
+ "xyz": [
104
+ -0.008384427943610507,
105
+ -0.8003065677205846,
106
+ -0.04294067921272312
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9853476881980896,
112
+ "position": [
113
+ 0.10020246298518032,
114
+ -0.014007295947521925,
115
+ -0.0006769652827642858
116
+ ],
117
+ "orientation": {
118
+ "w": 0.02173808678765687,
119
+ "xyz": [
120
+ -0.7082288995694007,
121
+ -0.02157882736417105,
122
+ 0.7053181095130874
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9852855801582336,
128
+ "position": [
129
+ 0.01941056305076927,
130
+ -0.011183482129126787,
131
+ -0.09815439232625067
132
+ ],
133
+ "orientation": {
134
+ "w": 0.03212502551761036,
135
+ "xyz": [
136
+ -0.08065795563730933,
137
+ -0.003989783779336453,
138
+ 0.9962160200244203
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9851917028427124,
144
+ "position": [
145
+ 0.09515187086071819,
146
+ 0.028543326538056135,
147
+ 0.024179229279980063
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6300157081892476,
151
+ "xyz": [
152
+ 0.0048330077117178585,
153
+ -0.7765673477794912,
154
+ 6.191918826180458e-05
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9843995571136475,
160
+ "position": [
161
+ 0.094288639142178,
162
+ -0.005858048913069069,
163
+ -0.014847357990220189
164
+ ],
165
+ "orientation": {
166
+ "w": 0.758878580425034,
167
+ "xyz": [
168
+ 0.005972355916165173,
169
+ -0.6511572395059008,
170
+ -0.00786642078396016
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9842516779899597,
176
+ "position": [
177
+ 0.09822004975285381,
178
+ 0.013845957349985838,
179
+ 0.005151857854798436
180
+ ],
181
+ "orientation": {
182
+ "w": 0.688307692535242,
183
+ "xyz": [
184
+ 0.00173648261670465,
185
+ -0.7252272513909765,
186
+ -0.016581280554327033
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9841850996017456,
192
+ "position": [
193
+ 0.09915992559399456,
194
+ 0.008361369837075472,
195
+ 0.019648067420348525
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6460326767065095,
199
+ "xyz": [
200
+ -0.01682130275563459,
201
+ -0.7631040401340383,
202
+ 0.00557210302617362
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9840848445892334,
208
+ "position": [
209
+ 0.09758789779152721,
210
+ 0.0008992105722427368,
211
+ 0.028797011589631438
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6029499932903325,
215
+ "xyz": [
216
+ -0.007033888289406415,
217
+ -0.7976873836171423,
218
+ 0.00983198986764871
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9840536713600159,
224
+ "position": [
225
+ 0.07023815752472728,
226
+ 0.022068636026233435,
227
+ 0.06958793452940881
228
+ ],
229
+ "orientation": {
230
+ "w": 0.40688352218121093,
231
+ "xyz": [
232
+ 0.003224274081425563,
233
+ -0.9134597481153948,
234
+ 0.0051664307814627075
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.984034538269043,
240
+ "position": [
241
+ 0.10129499377217144,
242
+ -0.014764206949621439,
243
+ 0.00603958941064775
244
+ ],
245
+ "orientation": {
246
+ "w": 0.037695250092016054,
247
+ "xyz": [
248
+ -0.7306315002131359,
249
+ -0.02523415499132431,
250
+ 0.6812634706474998
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9839580059051514,
256
+ "position": [
257
+ 0.09936671645846218,
258
+ -0.015470821876078844,
259
+ 0.016801425954326987
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6486630976983955,
263
+ "xyz": [
264
+ -0.018741035931390978,
265
+ -0.7608441649742881,
266
+ 0.0010563527434697992
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.983890950679779,
272
+ "position": [
273
+ 0.0934370601316914,
274
+ 0.024289993103593588,
275
+ 0.021715119248256087
276
+ ],
277
+ "orientation": {
278
+ "w": 0.6269269157990203,
279
+ "xyz": [
280
+ 0.02814653794826801,
281
+ -0.7784276185659152,
282
+ -0.014861268520981439
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9838287830352783,
288
+ "position": [
289
+ 0.1003911787411198,
290
+ 0.01684141857549548,
291
+ 0.011895932024344802
292
+ ],
293
+ "orientation": {
294
+ "w": 0.025103391648412837,
295
+ "xyz": [
296
+ -0.7447676574630033,
297
+ 0.003483526130312442,
298
+ 0.6668424260427019
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9837973713874817,
304
+ "position": [
305
+ 0.0821828314801678,
306
+ 0.004946040455251932,
307
+ 0.059509791200980544
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4740877948747051,
311
+ "xyz": [
312
+ -0.023405435398637636,
313
+ -0.879978592574634,
314
+ -0.018183095308719886
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9837886095046997,
320
+ "position": [
321
+ 0.025858982815407217,
322
+ -0.008319799089804292,
323
+ -0.0981257448438555
324
+ ],
325
+ "orientation": {
326
+ "w": 0.02709195869368328,
327
+ "xyz": [
328
+ -0.1251915338290885,
329
+ 0.002104193962609191,
330
+ 0.9917603934415952
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.983738899230957,
336
+ "position": [
337
+ 0.0962916457792744,
338
+ -0.019554499071091413,
339
+ 0.001196924364194274
340
+ ],
341
+ "orientation": {
342
+ "w": 0.7000195993134721,
343
+ "xyz": [
344
+ -0.017383447353194425,
345
+ -0.7117706778545426,
346
+ -0.055252859488082756
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "front tapered housing",
354
+ "mask_color": "Red",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "lightly grasp the tapered front housing for precise reorientation during placement",
359
+ "confidence": 0.45
360
+ },
361
+ {
362
+ "scenario": "hold the front housing to stabilize the object during inspection",
363
+ "confidence": 0.4
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "support the tape outlet",
368
+ "guide the application end",
369
+ "protect the front mechanism",
370
+ "indicate working direction"
371
+ ],
372
+ "semantic_description": "Small white plastic tapered front section with a smooth matte surface, narrowing toward the tip and connecting the main body to the dispensing end.",
373
+ "id": 0,
374
+ "grasp_group": {
375
+ "grasp_0": {
376
+ "confidence": 0.9855203032493591,
377
+ "position": [
378
+ 0.08274391235318035,
379
+ -0.02920669363811612,
380
+ 0.06011746427975595
381
+ ],
382
+ "orientation": {
383
+ "w": 0.018444998780809522,
384
+ "xyz": [
385
+ -0.8894841701299888,
386
+ -0.007429538561057603,
387
+ 0.4565331259228741
388
+ ]
389
+ }
390
+ },
391
+ "grasp_1": {
392
+ "confidence": 0.9851464629173279,
393
+ "position": [
394
+ 0.0938962841173634,
395
+ -0.02498679095879197,
396
+ 0.03802085644565523
397
+ ],
398
+ "orientation": {
399
+ "w": 0.023609548141383378,
400
+ "xyz": [
401
+ 0.8297860098014089,
402
+ -0.017688799030568414,
403
+ -0.5573014207439918
404
+ ]
405
+ }
406
+ },
407
+ "grasp_2": {
408
+ "confidence": 0.984175980091095,
409
+ "position": [
410
+ 0.08951801748480648,
411
+ -0.030973947141319513,
412
+ 0.0557775420602411
413
+ ],
414
+ "orientation": {
415
+ "w": 0.02138101533551139,
416
+ "xyz": [
417
+ -0.8742494195806829,
418
+ -0.01443793849912628,
419
+ 0.4847910379513603
420
+ ]
421
+ }
422
+ },
423
+ "grasp_3": {
424
+ "confidence": 0.9841248989105225,
425
+ "position": [
426
+ 0.08790595771279186,
427
+ -0.017770808655768633,
428
+ 0.04436944401822984
429
+ ],
430
+ "orientation": {
431
+ "w": 0.015030845096576068,
432
+ "xyz": [
433
+ 0.849494138629611,
434
+ 0.004142357175139222,
435
+ -0.5273676355320371
436
+ ]
437
+ }
438
+ },
439
+ "grasp_4": {
440
+ "confidence": 0.9840776920318604,
441
+ "position": [
442
+ 0.09819676668848842,
443
+ -0.019232457038015127,
444
+ 0.013446925906464458
445
+ ],
446
+ "orientation": {
447
+ "w": 0.00796781959248195,
448
+ "xyz": [
449
+ 0.7597890442203082,
450
+ 0.015404052180813421,
451
+ -0.6499383334672166
452
+ ]
453
+ }
454
+ },
455
+ "grasp_5": {
456
+ "confidence": 0.9838378429412842,
457
+ "position": [
458
+ 0.0940231973072514,
459
+ -0.025292400736361742,
460
+ 0.034302629297599196
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5699308115844789,
464
+ "xyz": [
465
+ -0.004593674138965778,
466
+ -0.821641886615493,
467
+ -0.007897994903492373
468
+ ]
469
+ }
470
+ },
471
+ "grasp_6": {
472
+ "confidence": 0.9822714328765869,
473
+ "position": [
474
+ 0.013330205692909658,
475
+ -0.02379285590723157,
476
+ -0.0960958416108042
477
+ ],
478
+ "orientation": {
479
+ "w": 0.02743789343867548,
480
+ "xyz": [
481
+ -0.06378783362873386,
482
+ 0.003456383347607117,
483
+ 0.9975802362210042
484
+ ]
485
+ }
486
+ },
487
+ "grasp_7": {
488
+ "confidence": 0.9819631576538086,
489
+ "position": [
490
+ 0.0992755884071812,
491
+ -0.023280701134353876,
492
+ -0.013228056253865361
493
+ ],
494
+ "orientation": {
495
+ "w": 0.022920821033916843,
496
+ "xyz": [
497
+ -0.6543195681892181,
498
+ -0.032818593067098334,
499
+ 0.7551579163306856
500
+ ]
501
+ }
502
+ },
503
+ "grasp_8": {
504
+ "confidence": 0.9816117882728577,
505
+ "position": [
506
+ 0.09662195981945843,
507
+ -0.03792913677170873,
508
+ -0.0008611642988398671
509
+ ],
510
+ "orientation": {
511
+ "w": 0.6993644073077732,
512
+ "xyz": [
513
+ -0.033090132828917894,
514
+ -0.7100714863687108,
515
+ -0.07478604914381581
516
+ ]
517
+ }
518
+ },
519
+ "grasp_9": {
520
+ "confidence": 0.981356143951416,
521
+ "position": [
522
+ 0.10006598324980587,
523
+ -0.030001275707036257,
524
+ 0.004194869427010417
525
+ ],
526
+ "orientation": {
527
+ "w": 0.023815005228320092,
528
+ "xyz": [
529
+ -0.7291422431562729,
530
+ -0.025893553569268368,
531
+ 0.6834573568662271
532
+ ]
533
+ }
534
+ },
535
+ "grasp_10": {
536
+ "confidence": 0.980901300907135,
537
+ "position": [
538
+ 0.10196004004683346,
539
+ -0.025999190751463175,
540
+ 0.01926421350799501
541
+ ],
542
+ "orientation": {
543
+ "w": 0.019149403048604373,
544
+ "xyz": [
545
+ 0.7705949157741796,
546
+ -0.005034304515894705,
547
+ -0.6370176072322558
548
+ ]
549
+ }
550
+ },
551
+ "grasp_11": {
552
+ "confidence": 0.9806697964668274,
553
+ "position": [
554
+ 0.09259512962307781,
555
+ -0.02602407755330205,
556
+ 0.027337400009855628
557
+ ],
558
+ "orientation": {
559
+ "w": 0.6063930745326792,
560
+ "xyz": [
561
+ 0.0073090300926656766,
562
+ -0.7951308819243164,
563
+ 0.0009475485043712254
564
+ ]
565
+ }
566
+ },
567
+ "grasp_12": {
568
+ "confidence": 0.9805804491043091,
569
+ "position": [
570
+ 0.09941089840140194,
571
+ -0.022271929774433374,
572
+ 0.01905282004736364
573
+ ],
574
+ "orientation": {
575
+ "w": 0.6378202938861591,
576
+ "xyz": [
577
+ -0.0046663447514464045,
578
+ -0.7701682430610806,
579
+ 0.002091725087889814
580
+ ]
581
+ }
582
+ },
583
+ "grasp_13": {
584
+ "confidence": 0.9802488684654236,
585
+ "position": [
586
+ 0.08884157927241176,
587
+ -0.03238558256998658,
588
+ 0.04057344398461282
589
+ ],
590
+ "orientation": {
591
+ "w": 0.5490128393710219,
592
+ "xyz": [
593
+ 0.01134838963993188,
594
+ -0.8352493761344798,
595
+ -0.02854112691033097
596
+ ]
597
+ }
598
+ },
599
+ "grasp_14": {
600
+ "confidence": 0.9802014231681824,
601
+ "position": [
602
+ 0.09508407057728618,
603
+ -0.03641715878620744,
604
+ 0.003776066703721881
605
+ ],
606
+ "orientation": {
607
+ "w": 0.6863838980077603,
608
+ "xyz": [
609
+ -0.008144557022240012,
610
+ -0.7238319078486055,
611
+ -0.06984396843558648
612
+ ]
613
+ }
614
+ },
615
+ "grasp_15": {
616
+ "confidence": 0.9793533682823181,
617
+ "position": [
618
+ 0.09466747881378978,
619
+ -0.024307504761964083,
620
+ 0.012960616266354918
621
+ ],
622
+ "orientation": {
623
+ "w": 0.6511064490369641,
624
+ "xyz": [
625
+ 0.02007124166563882,
626
+ -0.7586280222461405,
627
+ -0.011876916408935465
628
+ ]
629
+ }
630
+ },
631
+ "grasp_16": {
632
+ "confidence": 0.9784174561500549,
633
+ "position": [
634
+ 0.09085997135844082,
635
+ -0.021389853674918413,
636
+ 0.03571532643400133
637
+ ],
638
+ "orientation": {
639
+ "w": 0.5544945889836558,
640
+ "xyz": [
641
+ 0.003267070161970873,
642
+ -0.8321769345980913,
643
+ -0.0025742112049892303
644
+ ]
645
+ }
646
+ },
647
+ "grasp_17": {
648
+ "confidence": 0.9781900644302368,
649
+ "position": [
650
+ 0.09903088898863643,
651
+ -0.029635485727339983,
652
+ 0.0067801212426275015
653
+ ],
654
+ "orientation": {
655
+ "w": 0.028517868759895624,
656
+ "xyz": [
657
+ -0.743735054233597,
658
+ -0.01563092376730335,
659
+ 0.6676829895150261
660
+ ]
661
+ }
662
+ },
663
+ "grasp_18": {
664
+ "confidence": 0.9772856831550598,
665
+ "position": [
666
+ 0.028216374455951154,
667
+ -0.04298223974183202,
668
+ 0.09170421562157571
669
+ ],
670
+ "orientation": {
671
+ "w": 0.16155469787670523,
672
+ "xyz": [
673
+ 0.016078430675410663,
674
+ -0.984635752220195,
675
+ -0.06429618270747055
676
+ ]
677
+ }
678
+ },
679
+ "grasp_19": {
680
+ "confidence": 0.9770959615707397,
681
+ "position": [
682
+ -0.03780169098172337,
683
+ -0.017445127945393324,
684
+ 0.09210445336066186
685
+ ],
686
+ "orientation": {
687
+ "w": 0.02615303854714545,
688
+ "xyz": [
689
+ 0.980160301211773,
690
+ 0.02529692624224142,
691
+ 0.19483805589743705
692
+ ]
693
+ }
694
+ }
695
+ }
696
+ },
697
+ {
698
+ "part_name": "tip guard",
699
+ "mask_color": "Pink",
700
+ "graspable": false,
701
+ "grasp_scenarios": [],
702
+ "functional_labels": [
703
+ "protect the applicator tip",
704
+ "surround the dispensing end",
705
+ "reduce accidental damage",
706
+ "help indicate the contact end"
707
+ ],
708
+ "semantic_description": "Small translucent clear plastic guard at the very front, with a glossy smooth surface and open frame geometry around the applicator tip.",
709
+ "id": 8,
710
+ "grasp_group": {}
711
+ },
712
+ {
713
+ "part_name": "applicator tip",
714
+ "mask_color": "Blue",
715
+ "graspable": false,
716
+ "grasp_scenarios": [],
717
+ "functional_labels": [
718
+ "apply correction tape",
719
+ "contact the paper surface",
720
+ "guide tape onto writing",
721
+ "define dispensing point"
722
+ ],
723
+ "semantic_description": "Very small internal blue plastic applicator tip visible inside the clear front guard, with a smooth hard surface.",
724
+ "id": 2,
725
+ "grasp_group": {}
726
+ },
727
+ {
728
+ "part_name": "rear end cap",
729
+ "mask_color": "Orange",
730
+ "graspable": false,
731
+ "grasp_scenarios": [],
732
+ "functional_labels": [
733
+ "close the housing",
734
+ "protect the rear end",
735
+ "provide end support",
736
+ "finish the enclosure"
737
+ ],
738
+ "semantic_description": "Flat circular white plastic rear end cap with a smooth matte surface and visible radial molded pattern, located at the back of the cylindrical body.",
739
+ "id": 4,
740
+ "grasp_group": {}
741
+ },
742
+ {
743
+ "part_name": "seam ring",
744
+ "mask_color": "Purple",
745
+ "graspable": false,
746
+ "grasp_scenarios": [],
747
+ "functional_labels": [
748
+ "join front and rear housings",
749
+ "provide seam transition",
750
+ "align assembled parts",
751
+ "add structural continuity"
752
+ ],
753
+ "semantic_description": "Thin white plastic ring-like seam between the main body and front housing, with a smooth hard surface and narrow circumferential band shape.",
754
+ "id": 5,
755
+ "grasp_group": {}
756
+ }
757
+ ],
758
+ "quality_check": {
759
+ "success": true,
760
+ "message": "YES"
761
+ }
762
+ }
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5c96f84a759b175a07b1433b843e84b700d42b94f5feebd833c0c2a512c83d8
3
+ size 3771348