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
5cebdaf
·
verified ·
1 Parent(s): f776783

Add asset desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/affordance_annot.json +929 -0
  3. dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.urdf +4 -3
.gitattributes CHANGED
@@ -6514,3 +6514,4 @@ dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/affo
6514
  dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6515
  dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6516
  dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6514
  dataset/desktop_supplies/office_stationery/d5fb0ba7e5ef54588550a2b57d6c7cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6515
  dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6516
  dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6517
+ dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/affordance_annot.json ADDED
@@ -0,0 +1,929 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "notebook body",
5
+ "mask_color": "Teal",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the notebook body from the sides to pick it up",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the notebook while opening or closing it",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "clamp the body flat to reposition it on a desk",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain the pages",
23
+ "provide writing support",
24
+ "protect inner pages",
25
+ "main grasp surface",
26
+ "support opening and closing"
27
+ ],
28
+ "semantic_description": "Compact rectangular tan notebook body with smooth cover surfaces, matte finish, rounded corners, visible stitched edging, and a black logo mark on the front cover in several views.",
29
+ "id": 10,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.982629656791687,
33
+ "position": [
34
+ 0.0027946224436163902,
35
+ -0.15569966356270015,
36
+ 0.015088830725289881
37
+ ],
38
+ "orientation": {
39
+ "w": 0.4104849136010185,
40
+ "xyz": [
41
+ -0.5929736468182465,
42
+ 0.44456642560561055,
43
+ 0.5312674308757174
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9819684624671936,
49
+ "position": [
50
+ 0.010088158771395683,
51
+ -0.15689284424297512,
52
+ -0.0008725919760763645
53
+ ],
54
+ "orientation": {
55
+ "w": 0.42859197672399374,
56
+ "xyz": [
57
+ -0.5724267361982753,
58
+ 0.4093402344609187,
59
+ 0.5666366751496846
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9809017777442932,
65
+ "position": [
66
+ -0.0073434095829725266,
67
+ -0.15638373116962612,
68
+ 0.0019731397042050958
69
+ ],
70
+ "orientation": {
71
+ "w": 0.47081824387395493,
72
+ "xyz": [
73
+ -0.5467364264663479,
74
+ 0.45398312065972135,
75
+ 0.5227894292794315
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.9801079630851746,
81
+ "position": [
82
+ -0.018582971300929785,
83
+ -0.15693248133175075,
84
+ 0.0015030676731839776
85
+ ],
86
+ "orientation": {
87
+ "w": 0.49879942397358346,
88
+ "xyz": [
89
+ -0.4914674686492985,
90
+ -0.5014194885949578,
91
+ -0.5081705996614161
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.9796568751335144,
97
+ "position": [
98
+ -0.006764856167137623,
99
+ -0.15508373896591365,
100
+ 0.0010972673771902919
101
+ ],
102
+ "orientation": {
103
+ "w": 0.46779844968253265,
104
+ "xyz": [
105
+ -0.5351326770033834,
106
+ 0.46061095139492625,
107
+ 0.5316344420114943
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.979522705078125,
113
+ "position": [
114
+ -0.030920132994651794,
115
+ -0.15612312476150692,
116
+ 0.0003673573810374364
117
+ ],
118
+ "orientation": {
119
+ "w": 0.483045038364355,
120
+ "xyz": [
121
+ -0.489345791079261,
122
+ -0.49907888720908555,
123
+ -0.5273788505493301
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.9794144034385681,
129
+ "position": [
130
+ -0.14694859832525253,
131
+ -0.048970122588798404,
132
+ 0.002689398708753288
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7002891154774469,
136
+ "xyz": [
137
+ 0.01393124561381649,
138
+ 0.7135322509088078,
139
+ 0.0165167203909465
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.9793705940246582,
145
+ "position": [
146
+ -0.017093876842409372,
147
+ -0.15680306474678218,
148
+ 0.005163387977518141
149
+ ],
150
+ "orientation": {
151
+ "w": 0.4961601663780631,
152
+ "xyz": [
153
+ -0.4936500336312508,
154
+ -0.5062092879343543,
155
+ -0.503871898804202
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.9793505072593689,
161
+ "position": [
162
+ -0.008466234430670738,
163
+ -0.15577928046695888,
164
+ 0.0005600821750704199
165
+ ],
166
+ "orientation": {
167
+ "w": 0.4816560191055177,
168
+ "xyz": [
169
+ -0.5241314474342044,
170
+ 0.46804194725951764,
171
+ 0.5236701640111551
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.9792360663414001,
177
+ "position": [
178
+ -0.14585819095373154,
179
+ -0.05440871114842594,
180
+ 0.0053714943351224065
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6963960242026725,
184
+ "xyz": [
185
+ 0.011749366475835432,
186
+ 0.7173039021060067,
187
+ 0.019226073068208085
188
+ ]
189
+ }
190
+ },
191
+ "grasp_31": {
192
+ "confidence": 0.9788960814476013,
193
+ "position": [
194
+ -0.01619713264517486,
195
+ -0.15606898884288967,
196
+ 0.0004545153060462326
197
+ ],
198
+ "orientation": {
199
+ "w": 0.49966097692872047,
200
+ "xyz": [
201
+ -0.4955829067021659,
202
+ -0.497465317063591,
203
+ -0.507212725627118
204
+ ]
205
+ }
206
+ },
207
+ "grasp_32": {
208
+ "confidence": 0.9787625670433044,
209
+ "position": [
210
+ -0.02925635129213333,
211
+ -0.15494593302719295,
212
+ -0.0007737618871033192
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5100425062955808,
216
+ "xyz": [
217
+ -0.480726018808637,
218
+ -0.5064153093992537,
219
+ -0.5022973930035661
220
+ ]
221
+ }
222
+ },
223
+ "grasp_33": {
224
+ "confidence": 0.9783235788345337,
225
+ "position": [
226
+ 0.0010345755144953728,
227
+ -0.15725807170383632,
228
+ 0.0008714156574569643
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5058060450809334,
232
+ "xyz": [
233
+ -0.4927434136193833,
234
+ -0.500412825391981,
235
+ -0.5009502742563537
236
+ ]
237
+ }
238
+ },
239
+ "grasp_34": {
240
+ "confidence": 0.9783195853233337,
241
+ "position": [
242
+ -0.14875120669603348,
243
+ -0.04690529475919902,
244
+ -0.0023211039369925857
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7075483867922315,
248
+ "xyz": [
249
+ -0.013558298431691868,
250
+ 0.7050509487007911,
251
+ 0.04576693814821505
252
+ ]
253
+ }
254
+ },
255
+ "grasp_35": {
256
+ "confidence": 0.978282630443573,
257
+ "position": [
258
+ -0.00548304058611393,
259
+ -0.15425605396740139,
260
+ -0.0018010687781497836
261
+ ],
262
+ "orientation": {
263
+ "w": 0.545706079345287,
264
+ "xyz": [
265
+ -0.44010055890769906,
266
+ -0.5414984003386955,
267
+ -0.46399984422988805
268
+ ]
269
+ }
270
+ },
271
+ "grasp_36": {
272
+ "confidence": 0.9782627820968628,
273
+ "position": [
274
+ -0.1475609615445137,
275
+ -0.04959325189702213,
276
+ 0.0028755454113706946
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7110795889984861,
280
+ "xyz": [
281
+ -0.0272271271371467,
282
+ 0.7007508737276823,
283
+ 0.05072193438239735
284
+ ]
285
+ }
286
+ },
287
+ "grasp_37": {
288
+ "confidence": 0.978104293346405,
289
+ "position": [
290
+ -0.007487453054636717,
291
+ -0.15448872069828212,
292
+ -0.0010773568646982312
293
+ ],
294
+ "orientation": {
295
+ "w": 0.40169586614831626,
296
+ "xyz": [
297
+ -0.5887282209472459,
298
+ 0.3959772614464412,
299
+ 0.5790004502563203
300
+ ]
301
+ }
302
+ },
303
+ "grasp_38": {
304
+ "confidence": 0.9780505895614624,
305
+ "position": [
306
+ 0.14928578585386276,
307
+ 0.04165734280832112,
308
+ 0.0035804855870082974
309
+ ],
310
+ "orientation": {
311
+ "w": 0.012020015936281476,
312
+ "xyz": [
313
+ 0.7076774046089892,
314
+ 0.026342555921001765,
315
+ -0.7059421222524729
316
+ ]
317
+ }
318
+ },
319
+ "grasp_39": {
320
+ "confidence": 0.9780399799346924,
321
+ "position": [
322
+ -0.020233083050698042,
323
+ -0.16184467892162502,
324
+ 0.011484556482173502
325
+ ],
326
+ "orientation": {
327
+ "w": 0.47959914369658424,
328
+ "xyz": [
329
+ -0.5170237371304521,
330
+ -0.5154660291309809,
331
+ -0.4867914229124249
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "elastic strap and pen loop",
339
+ "mask_color": "Burnt Orange",
340
+ "graspable": true,
341
+ "grasp_scenarios": [
342
+ {
343
+ "scenario": "pinch the elastic strap to pull it aside and open the notebook",
344
+ "confidence": 0.79
345
+ },
346
+ {
347
+ "scenario": "grasp the pen loop tab to reposition or steady the notebook",
348
+ "confidence": 0.56
349
+ },
350
+ {
351
+ "scenario": "lightly hold the strap area while closing the notebook",
352
+ "confidence": 0.51
353
+ }
354
+ ],
355
+ "functional_labels": [
356
+ "keep the notebook closed",
357
+ "secure the cover",
358
+ "hold a pen or pencil",
359
+ "provide a pull point",
360
+ "add retention tension"
361
+ ],
362
+ "semantic_description": "Brown elastic band and matching side pen loop made of flexible fabric or elastic material, with a matte slightly textured surface, wrapping across the cover and protruding from one side as a small cylindrical holder.",
363
+ "id": 18,
364
+ "grasp_group": {
365
+ "grasp_40": {
366
+ "confidence": 0.9736362099647522,
367
+ "position": [
368
+ 0.031437408179044724,
369
+ 0.15722183068282902,
370
+ 0.009612822555936873
371
+ ],
372
+ "orientation": {
373
+ "w": 0.4960057156694151,
374
+ "xyz": [
375
+ 0.5122963547658116,
376
+ 0.5122732859750604,
377
+ -0.4786510789638394
378
+ ]
379
+ }
380
+ },
381
+ "grasp_41": {
382
+ "confidence": 0.9736288785934448,
383
+ "position": [
384
+ 0.030164476484060287,
385
+ -0.16352669219486415,
386
+ -0.005948770209215581
387
+ ],
388
+ "orientation": {
389
+ "w": 0.5095380906651813,
390
+ "xyz": [
391
+ -0.487660520327652,
392
+ 0.4957945716012714,
393
+ 0.5067009905711226
394
+ ]
395
+ }
396
+ },
397
+ "grasp_42": {
398
+ "confidence": 0.9726770520210266,
399
+ "position": [
400
+ 0.032950665801763535,
401
+ 0.1592287637759,
402
+ 0.009252377436496317
403
+ ],
404
+ "orientation": {
405
+ "w": 0.4975971221399261,
406
+ "xyz": [
407
+ 0.5122887873738896,
408
+ 0.5116227036838731,
409
+ -0.47770232514009886
410
+ ]
411
+ }
412
+ },
413
+ "grasp_44": {
414
+ "confidence": 0.9718127250671387,
415
+ "position": [
416
+ 0.043749477714300156,
417
+ -0.15877487580291927,
418
+ -0.0075903082033619285
419
+ ],
420
+ "orientation": {
421
+ "w": 0.5011331877648585,
422
+ "xyz": [
423
+ -0.5063688654516278,
424
+ 0.461886318317256,
425
+ 0.5283153690488221
426
+ ]
427
+ }
428
+ },
429
+ "grasp_45": {
430
+ "confidence": 0.9717503786087036,
431
+ "position": [
432
+ 0.037915345281362534,
433
+ 0.1594891764689237,
434
+ 0.0060731429839506745
435
+ ],
436
+ "orientation": {
437
+ "w": 0.4978843190450967,
438
+ "xyz": [
439
+ 0.5052658791898289,
440
+ 0.5019889433725149,
441
+ -0.49479763227735424
442
+ ]
443
+ }
444
+ },
445
+ "grasp_46": {
446
+ "confidence": 0.9712893962860107,
447
+ "position": [
448
+ 0.03349553048610687,
449
+ 0.16431315918453038,
450
+ 0.005864005186595023
451
+ ],
452
+ "orientation": {
453
+ "w": 0.49393171102155564,
454
+ "xyz": [
455
+ 0.5026919113567015,
456
+ -0.4971100636988738,
457
+ 0.5061757517633244
458
+ ]
459
+ }
460
+ },
461
+ "grasp_48": {
462
+ "confidence": 0.9708608984947205,
463
+ "position": [
464
+ 0.03183350712060928,
465
+ 0.1589221574831754,
466
+ 0.0038844383088871837
467
+ ],
468
+ "orientation": {
469
+ "w": 0.5053135338775089,
470
+ "xyz": [
471
+ 0.5059181662258011,
472
+ 0.5077314510455523,
473
+ -0.48053492607938963
474
+ ]
475
+ }
476
+ },
477
+ "grasp_49": {
478
+ "confidence": 0.9707701206207275,
479
+ "position": [
480
+ 0.03319542855024338,
481
+ 0.16230583866126835,
482
+ 0.004088491317816079
483
+ ],
484
+ "orientation": {
485
+ "w": 0.5012718332984851,
486
+ "xyz": [
487
+ 0.5056128966051406,
488
+ 0.5026160443404963,
489
+ -0.4903664547046907
490
+ ]
491
+ }
492
+ },
493
+ "grasp_50": {
494
+ "confidence": 0.9707037210464478,
495
+ "position": [
496
+ 0.03641646355390549,
497
+ 0.1550284989643842,
498
+ 0.005445390124805272
499
+ ],
500
+ "orientation": {
501
+ "w": 0.49915736367617447,
502
+ "xyz": [
503
+ 0.5028411154160288,
504
+ 0.5056307452673487,
505
+ -0.4922705438835445
506
+ ]
507
+ }
508
+ },
509
+ "grasp_51": {
510
+ "confidence": 0.9703842401504517,
511
+ "position": [
512
+ 0.03785109147429466,
513
+ -0.15675520221702754,
514
+ -0.001742035266943276
515
+ ],
516
+ "orientation": {
517
+ "w": 0.5169133004441655,
518
+ "xyz": [
519
+ -0.48321047285436847,
520
+ 0.49886874941081905,
521
+ 0.5004380577145014
522
+ ]
523
+ }
524
+ },
525
+ "grasp_52": {
526
+ "confidence": 0.9703126549720764,
527
+ "position": [
528
+ 0.03561152145266533,
529
+ 0.15586090763099492,
530
+ 0.003384165116585791
531
+ ],
532
+ "orientation": {
533
+ "w": 0.4961059208705835,
534
+ "xyz": [
535
+ 0.49187506933140235,
536
+ -0.5065806558638172,
537
+ 0.505285929501271
538
+ ]
539
+ }
540
+ },
541
+ "grasp_53": {
542
+ "confidence": 0.9702838063240051,
543
+ "position": [
544
+ 0.03383742645382881,
545
+ 0.16083282907493412,
546
+ 0.00551668053958565
547
+ ],
548
+ "orientation": {
549
+ "w": 0.5013999198296243,
550
+ "xyz": [
551
+ 0.5103525869449907,
552
+ 0.5079160825153314,
553
+ -0.47974952893742506
554
+ ]
555
+ }
556
+ },
557
+ "grasp_55": {
558
+ "confidence": 0.9699563980102539,
559
+ "position": [
560
+ 0.034877385944128036,
561
+ -0.15547763626091182,
562
+ -0.010675459518097341
563
+ ],
564
+ "orientation": {
565
+ "w": 0.5130074420456405,
566
+ "xyz": [
567
+ -0.48763924290360594,
568
+ 0.48133005274079765,
569
+ 0.5170616148146446
570
+ ]
571
+ }
572
+ },
573
+ "grasp_56": {
574
+ "confidence": 0.9696304798126221,
575
+ "position": [
576
+ 0.03850814327597618,
577
+ 0.15899824281223118,
578
+ 0.011941854492761195
579
+ ],
580
+ "orientation": {
581
+ "w": 0.48113023273853145,
582
+ "xyz": [
583
+ 0.5187607594171533,
584
+ -0.5084379041293784,
585
+ 0.4908073667727798
586
+ ]
587
+ }
588
+ },
589
+ "grasp_57": {
590
+ "confidence": 0.9694765210151672,
591
+ "position": [
592
+ 0.031200207769870758,
593
+ 0.16376822371967137,
594
+ 0.004858229891397059
595
+ ],
596
+ "orientation": {
597
+ "w": 0.5023742816331069,
598
+ "xyz": [
599
+ 0.5080263211987811,
600
+ 0.5040910464098672,
601
+ -0.4852025917616861
602
+ ]
603
+ }
604
+ },
605
+ "grasp_58": {
606
+ "confidence": 0.9690961837768555,
607
+ "position": [
608
+ 0.04318187013268471,
609
+ 0.15337733109481633,
610
+ 0.009658366092480719
611
+ ],
612
+ "orientation": {
613
+ "w": 0.47163667691603595,
614
+ "xyz": [
615
+ 0.5314064802191492,
616
+ 0.4851762732731829,
617
+ -0.5096763498745455
618
+ ]
619
+ }
620
+ },
621
+ "grasp_59": {
622
+ "confidence": 0.9690513014793396,
623
+ "position": [
624
+ 0.04431552812457085,
625
+ 0.15503778238780797,
626
+ 0.004659455385990441
627
+ ],
628
+ "orientation": {
629
+ "w": 0.5174549813658079,
630
+ "xyz": [
631
+ 0.4848031670410343,
632
+ -0.5222261580732671,
633
+ 0.47379961092294
634
+ ]
635
+ }
636
+ }
637
+ }
638
+ },
639
+ {
640
+ "part_name": "ring binding",
641
+ "mask_color": "Magenta",
642
+ "graspable": true,
643
+ "grasp_scenarios": [
644
+ {
645
+ "scenario": "pinch the ring binding to flip or orient the notebook",
646
+ "confidence": 0.62
647
+ },
648
+ {
649
+ "scenario": "grasp the binding edge to lift the small notebook carefully",
650
+ "confidence": 0.43
651
+ },
652
+ {
653
+ "scenario": "hold the binding to stabilize the notebook during page turning",
654
+ "confidence": 0.67
655
+ }
656
+ ],
657
+ "functional_labels": [
658
+ "bind the pages together",
659
+ "enable page turning",
660
+ "allow the notebook to open and fold back",
661
+ "define the hinge side"
662
+ ],
663
+ "semantic_description": "White or silver-white metal ring coil binding formed by repeated rounded loops along one edge, with a smooth slightly glossy surface and prominent raised rings.",
664
+ "id": 7,
665
+ "grasp_group": {
666
+ "grasp_0": {
667
+ "confidence": 0.9782280921936035,
668
+ "position": [
669
+ -0.15670061856508255,
670
+ 0.039626113371923566,
671
+ 0.0016681801062077284
672
+ ],
673
+ "orientation": {
674
+ "w": 0.020707395767194946,
675
+ "xyz": [
676
+ -0.7045839498285775,
677
+ -0.005584258403193876,
678
+ -0.7092964665516018
679
+ ]
680
+ }
681
+ },
682
+ "grasp_1": {
683
+ "confidence": 0.9778847098350525,
684
+ "position": [
685
+ -0.15736568719148636,
686
+ 0.04028002475388348,
687
+ 0.006034536869265139
688
+ ],
689
+ "orientation": {
690
+ "w": 0.6938848968455076,
691
+ "xyz": [
692
+ 0.002907319889527466,
693
+ 0.7199738095696563,
694
+ 0.012369759678970055
695
+ ]
696
+ }
697
+ },
698
+ "grasp_2": {
699
+ "confidence": 0.9768898487091064,
700
+ "position": [
701
+ -0.1595502719283104,
702
+ 0.05827302788384259,
703
+ -0.0004817834706045687
704
+ ],
705
+ "orientation": {
706
+ "w": 0.007629244632552278,
707
+ "xyz": [
708
+ 0.6987683975732615,
709
+ -0.000748670778515037,
710
+ 0.7153068996390981
711
+ ]
712
+ }
713
+ },
714
+ "grasp_3": {
715
+ "confidence": 0.9751333594322205,
716
+ "position": [
717
+ -0.1570998653769493,
718
+ 0.044202107237651944,
719
+ 0.0018415381200611591
720
+ ],
721
+ "orientation": {
722
+ "w": 0.6946268437051615,
723
+ "xyz": [
724
+ 0.006678627065764007,
725
+ 0.7193023379291594,
726
+ 0.007286329279283481
727
+ ]
728
+ }
729
+ },
730
+ "grasp_4": {
731
+ "confidence": 0.9743996858596802,
732
+ "position": [
733
+ -0.1581607535481453,
734
+ -0.04518857295624912,
735
+ -9.597177268005908e-05
736
+ ],
737
+ "orientation": {
738
+ "w": 0.7008568633483497,
739
+ "xyz": [
740
+ 0.01909602571209322,
741
+ 0.7129071910238441,
742
+ 0.014083177411651044
743
+ ]
744
+ }
745
+ },
746
+ "grasp_5": {
747
+ "confidence": 0.9736084938049316,
748
+ "position": [
749
+ -0.16064519435167313,
750
+ -0.016612886218354106,
751
+ -0.0003845059545710683
752
+ ],
753
+ "orientation": {
754
+ "w": 0.6947396702685636,
755
+ "xyz": [
756
+ 0.008779421965991144,
757
+ 0.7189840240019458,
758
+ 0.017935594081024877
759
+ ]
760
+ }
761
+ },
762
+ "grasp_7": {
763
+ "confidence": 0.9707635045051575,
764
+ "position": [
765
+ -0.15795037895441055,
766
+ 0.0566562854219228,
767
+ 0.0027718167984858155
768
+ ],
769
+ "orientation": {
770
+ "w": 0.6961591440107828,
771
+ "xyz": [
772
+ 0.0013380798514759688,
773
+ 0.7177379328520692,
774
+ 0.014591624231861923
775
+ ]
776
+ }
777
+ },
778
+ "grasp_10": {
779
+ "confidence": 0.9690881371498108,
780
+ "position": [
781
+ -0.16145942360162735,
782
+ 0.009834530064836144,
783
+ 0.0028430024394765496
784
+ ],
785
+ "orientation": {
786
+ "w": 0.6982167007921526,
787
+ "xyz": [
788
+ 0.0097510635598475,
789
+ 0.7155128171673728,
790
+ 0.020970549911315337
791
+ ]
792
+ }
793
+ },
794
+ "grasp_11": {
795
+ "confidence": 0.9680305123329163,
796
+ "position": [
797
+ -0.1570962741971016,
798
+ 0.055056627141311765,
799
+ -0.0031164548126980662
800
+ ],
801
+ "orientation": {
802
+ "w": 0.7021885458479158,
803
+ "xyz": [
804
+ 0.0023996049128708024,
805
+ 0.7119485555192554,
806
+ 0.007398801950112103
807
+ ]
808
+ }
809
+ },
810
+ "grasp_12": {
811
+ "confidence": 0.9663359522819519,
812
+ "position": [
813
+ -0.15733685344457626,
814
+ -0.028819625033065677,
815
+ 0.008847864926792681
816
+ ],
817
+ "orientation": {
818
+ "w": 0.6924520529749578,
819
+ "xyz": [
820
+ 0.009415220791191089,
821
+ 0.7212144508875622,
822
+ 0.016468873038904323
823
+ ]
824
+ }
825
+ },
826
+ "grasp_13": {
827
+ "confidence": 0.940416693687439,
828
+ "position": [
829
+ -0.1593969538807869,
830
+ -0.05727181653492153,
831
+ 0.002282373490743339
832
+ ],
833
+ "orientation": {
834
+ "w": 0.6842978777709826,
835
+ "xyz": [
836
+ 0.020428783609886213,
837
+ 0.728842378473598,
838
+ 0.010385885580841626
839
+ ]
840
+ }
841
+ },
842
+ "grasp_14": {
843
+ "confidence": 0.9750831127166748,
844
+ "position": [
845
+ -0.15677005797624588,
846
+ -0.014078687643632293,
847
+ 0.002102908445522189
848
+ ],
849
+ "orientation": {
850
+ "w": 0.691895399075024,
851
+ "xyz": [
852
+ 0.01452104709205276,
853
+ 0.7216996413773251,
854
+ 0.01481632768279928
855
+ ]
856
+ }
857
+ },
858
+ "grasp_15": {
859
+ "confidence": 0.9732603430747986,
860
+ "position": [
861
+ -0.15699674934148788,
862
+ 0.02441929210908711,
863
+ 0.0034618190256878734
864
+ ],
865
+ "orientation": {
866
+ "w": 0.6996480743806833,
867
+ "xyz": [
868
+ 0.003969204669955435,
869
+ 0.714399975296717,
870
+ 0.010463877184850829
871
+ ]
872
+ }
873
+ },
874
+ "grasp_16": {
875
+ "confidence": 0.9732303619384766,
876
+ "position": [
877
+ -0.15666613727808,
878
+ 0.04113602195866406,
879
+ 0.002039671642705798
880
+ ],
881
+ "orientation": {
882
+ "w": 0.68897383659778,
883
+ "xyz": [
884
+ 0.006997165862655983,
885
+ 0.7247305680633926,
886
+ 0.005629908359705108
887
+ ]
888
+ }
889
+ },
890
+ "grasp_17": {
891
+ "confidence": 0.972749650478363,
892
+ "position": [
893
+ -0.15684198588132858,
894
+ 0.040295421378687024,
895
+ -0.0039944000309333205
896
+ ],
897
+ "orientation": {
898
+ "w": 0.705490211403104,
899
+ "xyz": [
900
+ 0.0048091712667951755,
901
+ 0.7086058810539722,
902
+ 0.01175324728976235
903
+ ]
904
+ }
905
+ },
906
+ "grasp_19": {
907
+ "confidence": 0.9574211239814758,
908
+ "position": [
909
+ -0.15794476121664047,
910
+ 0.00035860890056937933,
911
+ -0.021542133181355894
912
+ ],
913
+ "orientation": {
914
+ "w": 0.7859183045540385,
915
+ "xyz": [
916
+ 0.013413994341553834,
917
+ 0.6180274679808961,
918
+ -0.013947478045612848
919
+ ]
920
+ }
921
+ }
922
+ }
923
+ }
924
+ ],
925
+ "quality_check": {
926
+ "success": false,
927
+ "message": "Notebook body description mismatches visible logo details and cover/body function wording is imprecise; corrected semantics and functions needed."
928
+ }
929
+ }
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8233a1fb03f4f866df04ac811d77ae392c3630e9b0b64241d64cb24f8bb072a6
3
+ size 3815320
dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.urdf CHANGED
@@ -51,16 +51,17 @@
51
  </link>
52
  <custom_data>
53
  <affordance>
54
- <part_count>0</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
58
- <mesh filename="None" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
64
  </quality>
65
  </custom_data>
66
  </robot>
 
51
  </link>
52
  <custom_data>
53
  <affordance>
54
+ <part_count>3</part_count>
55
  <visual_seg>
56
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
57
  <geometry>
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>
65
  </quality>
66
  </custom_data>
67
  </robot>