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
5e9c111
·
verified ·
1 Parent(s): 35567da

Add asset desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/affordance_annot.json +626 -0
  3. dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.urdf +1 -0
.gitattributes CHANGED
@@ -6402,3 +6402,4 @@ dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/affo
6402
  dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6403
  dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6404
  dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6402
  dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6403
  dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6404
  dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6405
+ dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,626 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top lid to remove or open the shavings container",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "hold the lid lightly while repositioning the sharpener",
14
+ "confidence": 0.58
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the shavings reservoir",
19
+ "enclose the container",
20
+ "provide an opening/removal surface"
21
+ ],
22
+ "semantic_description": "A light gray plastic lid with a smooth matte finish and rounded rectangular shape sits on the top of the sharpener as a medium-sized cap.",
23
+ "id": 2,
24
+ "grasp_group": {
25
+ "grasp_20": {
26
+ "confidence": 0.9557501673698425,
27
+ "position": [
28
+ 0.1014068040822167,
29
+ 0.025458319010795094,
30
+ 0.007883640239015222
31
+ ],
32
+ "orientation": {
33
+ "w": 0.46056232491558846,
34
+ "xyz": [
35
+ -0.4113300111660014,
36
+ -0.5604881066897487,
37
+ 0.551854191831381
38
+ ]
39
+ }
40
+ },
41
+ "grasp_21": {
42
+ "confidence": 0.9507689476013184,
43
+ "position": [
44
+ 0.1051120225165505,
45
+ 0.02333823022490833,
46
+ 0.015676448354497552
47
+ ],
48
+ "orientation": {
49
+ "w": 0.45177060055575796,
50
+ "xyz": [
51
+ -0.4338181622406443,
52
+ -0.5752738086140474,
53
+ 0.5260847571507159
54
+ ]
55
+ }
56
+ },
57
+ "grasp_23": {
58
+ "confidence": 0.9439714550971985,
59
+ "position": [
60
+ 0.09878073519212194,
61
+ 0.015354577350080945,
62
+ 0.013073733309283853
63
+ ],
64
+ "orientation": {
65
+ "w": 0.5334691735973287,
66
+ "xyz": [
67
+ 0.5633094128611964,
68
+ -0.4382383863922712,
69
+ -0.4539165814284124
70
+ ]
71
+ }
72
+ },
73
+ "grasp_24": {
74
+ "confidence": 0.9423146843910217,
75
+ "position": [
76
+ -0.08339961731689982,
77
+ -0.027112495256005786,
78
+ 0.06672417954541743
79
+ ],
80
+ "orientation": {
81
+ "w": 0.3914631147684715,
82
+ "xyz": [
83
+ -0.7047814532608337,
84
+ 0.519752887601628,
85
+ -0.28265998787427093
86
+ ]
87
+ }
88
+ },
89
+ "grasp_25": {
90
+ "confidence": 0.9401524662971497,
91
+ "position": [
92
+ 0.09711001699906774,
93
+ 0.031277315589250065,
94
+ 0.00892210123129189
95
+ ],
96
+ "orientation": {
97
+ "w": 0.45221974474860493,
98
+ "xyz": [
99
+ -0.4022717071129078,
100
+ -0.5637465267979337,
101
+ 0.5620183534718776
102
+ ]
103
+ }
104
+ },
105
+ "grasp_26": {
106
+ "confidence": 0.9393389821052551,
107
+ "position": [
108
+ -0.016328315454302356,
109
+ 0.08989488882070873,
110
+ 0.059473159024491906
111
+ ],
112
+ "orientation": {
113
+ "w": 0.5140323716142607,
114
+ "xyz": [
115
+ 0.8523842781473615,
116
+ 0.08819576548541919,
117
+ 0.037858555839607476
118
+ ]
119
+ }
120
+ },
121
+ "grasp_28": {
122
+ "confidence": 0.9368284344673157,
123
+ "position": [
124
+ 0.10031656807404943,
125
+ 0.027605051072896458,
126
+ 0.011521844426169991
127
+ ],
128
+ "orientation": {
129
+ "w": 0.5588748971937848,
130
+ "xyz": [
131
+ 0.5769496089721918,
132
+ -0.39979837472749546,
133
+ -0.4415305850773243
134
+ ]
135
+ }
136
+ },
137
+ "grasp_29": {
138
+ "confidence": 0.9363082051277161,
139
+ "position": [
140
+ -0.016540794837055728,
141
+ 0.09136763018614147,
142
+ 0.06441617594100535
143
+ ],
144
+ "orientation": {
145
+ "w": 0.03892112627465532,
146
+ "xyz": [
147
+ -0.12737667784632506,
148
+ 0.8600734255495909,
149
+ -0.4924774416496033
150
+ ]
151
+ }
152
+ },
153
+ "grasp_30": {
154
+ "confidence": 0.9340106844902039,
155
+ "position": [
156
+ -0.021524367126403376,
157
+ 0.08573282313591335,
158
+ 0.06581649766303599
159
+ ],
160
+ "orientation": {
161
+ "w": 0.054151450513107255,
162
+ "xyz": [
163
+ -0.14393338912851383,
164
+ 0.859288679209587,
165
+ -0.48782554841208264
166
+ ]
167
+ }
168
+ },
169
+ "grasp_31": {
170
+ "confidence": 0.9339908361434937,
171
+ "position": [
172
+ 0.08315065389615484,
173
+ 0.022672738778055646,
174
+ 0.0630616678390652
175
+ ],
176
+ "orientation": {
177
+ "w": 0.32520565317815936,
178
+ "xyz": [
179
+ -0.4984241091387423,
180
+ -0.7039009895656515,
181
+ 0.38773455798872813
182
+ ]
183
+ }
184
+ },
185
+ "grasp_32": {
186
+ "confidence": 0.9320674538612366,
187
+ "position": [
188
+ -0.09680529052275233,
189
+ -0.02400773215049412,
190
+ 0.014006236800923944
191
+ ],
192
+ "orientation": {
193
+ "w": 0.41338766051239106,
194
+ "xyz": [
195
+ 0.4416937285608978,
196
+ 0.5645631226062597,
197
+ 0.5615031370162891
198
+ ]
199
+ }
200
+ },
201
+ "grasp_33": {
202
+ "confidence": 0.9317804574966431,
203
+ "position": [
204
+ 0.09622663891059346,
205
+ 0.021356198834837414,
206
+ 0.05691812769509852
207
+ ],
208
+ "orientation": {
209
+ "w": 0.40668031982705943,
210
+ "xyz": [
211
+ 0.6721412467880109,
212
+ -0.5149396449532084,
213
+ -0.34303705905788434
214
+ ]
215
+ }
216
+ },
217
+ "grasp_34": {
218
+ "confidence": 0.9311853051185608,
219
+ "position": [
220
+ 0.01966255603474565,
221
+ -0.10411032485717442,
222
+ 0.009633255423977971
223
+ ],
224
+ "orientation": {
225
+ "w": 0.7163293493493327,
226
+ "xyz": [
227
+ -0.6921640047173434,
228
+ -0.056350857109742636,
229
+ 0.06786630045470161
230
+ ]
231
+ }
232
+ },
233
+ "grasp_36": {
234
+ "confidence": 0.928451657295227,
235
+ "position": [
236
+ 0.09583305453998037,
237
+ 0.020281396704376675,
238
+ 0.027989989379420877
239
+ ],
240
+ "orientation": {
241
+ "w": 0.4235527792087561,
242
+ "xyz": [
243
+ -0.4526377544292411,
244
+ -0.601699440086696,
245
+ 0.5036664474522287
246
+ ]
247
+ }
248
+ }
249
+ }
250
+ },
251
+ {
252
+ "part_name": "body",
253
+ "mask_color": "Green",
254
+ "graspable": true,
255
+ "grasp_scenarios": [
256
+ {
257
+ "scenario": "grasp the main body to pick up and move the sharpener",
258
+ "confidence": 0.95
259
+ },
260
+ {
261
+ "scenario": "hold the body steady while inserting or twisting a pencil",
262
+ "confidence": 0.93
263
+ }
264
+ ],
265
+ "functional_labels": [
266
+ "main grasp surface",
267
+ "contain shavings",
268
+ "provide structural housing",
269
+ "support the sharpener assembly"
270
+ ],
271
+ "semantic_description": "The main housing is a salmon-pink and white plastic shell with a mostly smooth finish and rounded tapered rectangular form, making up most of the exterior.",
272
+ "id": 1,
273
+ "grasp_group": {
274
+ "grasp_0": {
275
+ "confidence": 0.974045991897583,
276
+ "position": [
277
+ -0.02348879279452376,
278
+ 0.08881294530874584,
279
+ 0.05356593267060816
280
+ ],
281
+ "orientation": {
282
+ "w": 0.49880780836725297,
283
+ "xyz": [
284
+ 0.8554182642098329,
285
+ 0.12508641240332463,
286
+ 0.061674573368284774
287
+ ]
288
+ }
289
+ },
290
+ "grasp_1": {
291
+ "confidence": 0.973041832447052,
292
+ "position": [
293
+ -0.024470477568684146,
294
+ 0.0872433091426501,
295
+ 0.05213946686126292
296
+ ],
297
+ "orientation": {
298
+ "w": 0.4984627104439511,
299
+ "xyz": [
300
+ 0.8547423218799304,
301
+ 0.12945504632972293,
302
+ 0.06474473309810334
303
+ ]
304
+ }
305
+ },
306
+ "grasp_2": {
307
+ "confidence": 0.9700180292129517,
308
+ "position": [
309
+ -0.022648704441962764,
310
+ 0.10245011550432537,
311
+ 0.004755607107654214
312
+ ],
313
+ "orientation": {
314
+ "w": 0.07556542907057097,
315
+ "xyz": [
316
+ -0.10057971063247086,
317
+ 0.7131233010288817,
318
+ -0.6896584265186212
319
+ ]
320
+ }
321
+ },
322
+ "grasp_3": {
323
+ "confidence": 0.9696669578552246,
324
+ "position": [
325
+ -0.028645363840041682,
326
+ 0.09051244509464595,
327
+ -0.04900525673292577
328
+ ],
329
+ "orientation": {
330
+ "w": 0.826831243196312,
331
+ "xyz": [
332
+ 0.5382253559046344,
333
+ 0.10136282420994636,
334
+ 0.12802007422257977
335
+ ]
336
+ }
337
+ },
338
+ "grasp_4": {
339
+ "confidence": 0.9694256782531738,
340
+ "position": [
341
+ -0.0334598321642261,
342
+ 0.09843448353058193,
343
+ -0.006160808494314551
344
+ ],
345
+ "orientation": {
346
+ "w": 0.6912438747791891,
347
+ "xyz": [
348
+ 0.7026052175472821,
349
+ 0.13598981950676703,
350
+ 0.10017276499181861
351
+ ]
352
+ }
353
+ },
354
+ "grasp_5": {
355
+ "confidence": 0.9669764637947083,
356
+ "position": [
357
+ -0.02914140486973338,
358
+ 0.08548572463041637,
359
+ 0.05379437864758074
360
+ ],
361
+ "orientation": {
362
+ "w": 0.4978092250528176,
363
+ "xyz": [
364
+ 0.8546270312725376,
365
+ 0.1271319981193908,
366
+ 0.07507374990483627
367
+ ]
368
+ }
369
+ },
370
+ "grasp_7": {
371
+ "confidence": 0.966460108757019,
372
+ "position": [
373
+ 0.01859126499039121,
374
+ -0.09796377467864659,
375
+ -0.00950086791999638
376
+ ],
377
+ "orientation": {
378
+ "w": 0.7167103400195758,
379
+ "xyz": [
380
+ -0.6908193053748664,
381
+ -0.07229211325648632,
382
+ 0.06219988899766893
383
+ ]
384
+ }
385
+ },
386
+ "grasp_8": {
387
+ "confidence": 0.9660421013832092,
388
+ "position": [
389
+ -0.019585459696827456,
390
+ 0.0882533172989497,
391
+ -0.06319509237073362
392
+ ],
393
+ "orientation": {
394
+ "w": 0.8549451861956723,
395
+ "xyz": [
396
+ 0.5034863431965592,
397
+ 0.08090042918190354,
398
+ 0.09500184931667097
399
+ ]
400
+ }
401
+ },
402
+ "grasp_9": {
403
+ "confidence": 0.9659146070480347,
404
+ "position": [
405
+ -0.031384398433147,
406
+ 0.09928238195425365,
407
+ -0.010816163150593638
408
+ ],
409
+ "orientation": {
410
+ "w": 0.6960369105458879,
411
+ "xyz": [
412
+ 0.7016507224609426,
413
+ 0.10650164298542342,
414
+ 0.10897835963703134
415
+ ]
416
+ }
417
+ },
418
+ "grasp_10": {
419
+ "confidence": 0.9656021595001221,
420
+ "position": [
421
+ -0.018379868211923167,
422
+ 0.08590995323902462,
423
+ -0.06511359824799001
424
+ ],
425
+ "orientation": {
426
+ "w": 0.8584916673872075,
427
+ "xyz": [
428
+ 0.49736413270677454,
429
+ 0.0676119895903744,
430
+ 0.10511705564370515
431
+ ]
432
+ }
433
+ },
434
+ "grasp_11": {
435
+ "confidence": 0.9645178914070129,
436
+ "position": [
437
+ -0.018204598891315982,
438
+ 0.10135873955732677,
439
+ -0.007868758169934154
440
+ ],
441
+ "orientation": {
442
+ "w": 0.696329156539942,
443
+ "xyz": [
444
+ 0.7088490385617077,
445
+ 0.08564052247899301,
446
+ 0.07296880972059658
447
+ ]
448
+ }
449
+ },
450
+ "grasp_12": {
451
+ "confidence": 0.9638481140136719,
452
+ "position": [
453
+ -0.02742496060091071,
454
+ 0.09857529950386379,
455
+ 0.0065510806161910295
456
+ ],
457
+ "orientation": {
458
+ "w": 0.08411904569935352,
459
+ "xyz": [
460
+ -0.11675585498619759,
461
+ 0.7190069757660467,
462
+ -0.6799419278709289
463
+ ]
464
+ }
465
+ },
466
+ "grasp_13": {
467
+ "confidence": 0.9636418223381042,
468
+ "position": [
469
+ 0.02924720084411092,
470
+ -0.09766324805968907,
471
+ -0.013500000117346644
472
+ ],
473
+ "orientation": {
474
+ "w": 0.7118074588116919,
475
+ "xyz": [
476
+ -0.6914972009538628,
477
+ -0.07490298982338328,
478
+ 0.09773077697702516
479
+ ]
480
+ }
481
+ },
482
+ "grasp_14": {
483
+ "confidence": 0.962992787361145,
484
+ "position": [
485
+ -0.02128019483643584,
486
+ 0.08670405847078655,
487
+ -0.0675012634601444
488
+ ],
489
+ "orientation": {
490
+ "w": 0.8577532571577924,
491
+ "xyz": [
492
+ 0.4979420791582372,
493
+ 0.08448128119027742,
494
+ 0.09579117269988323
495
+ ]
496
+ }
497
+ },
498
+ "grasp_16": {
499
+ "confidence": 0.9625056385993958,
500
+ "position": [
501
+ -0.01881955491262488,
502
+ 0.08761385631805751,
503
+ -0.06403396069072187
504
+ ],
505
+ "orientation": {
506
+ "w": 0.8589130321169512,
507
+ "xyz": [
508
+ 0.49672005930150565,
509
+ 0.08454645284600382,
510
+ 0.09159412240058065
511
+ ]
512
+ }
513
+ },
514
+ "grasp_17": {
515
+ "confidence": 0.9622083902359009,
516
+ "position": [
517
+ -0.027270735445199534,
518
+ 0.09283442598825786,
519
+ 0.033912630984559655
520
+ ],
521
+ "orientation": {
522
+ "w": 0.5579855783260185,
523
+ "xyz": [
524
+ 0.8147126182324779,
525
+ 0.14217053345185415,
526
+ 0.06843232782080741
527
+ ]
528
+ }
529
+ },
530
+ "grasp_18": {
531
+ "confidence": 0.961841344833374,
532
+ "position": [
533
+ 0.02161943053943105,
534
+ -0.10022703009599354,
535
+ -0.016329938312992454
536
+ ],
537
+ "orientation": {
538
+ "w": 0.7044402632649645,
539
+ "xyz": [
540
+ -0.7019469241225575,
541
+ -0.06809160306147433,
542
+ 0.0799872789797615
543
+ ]
544
+ }
545
+ },
546
+ "grasp_19": {
547
+ "confidence": 0.9613565802574158,
548
+ "position": [
549
+ -0.01178600752609782,
550
+ 0.08786567104107235,
551
+ -0.07015445246361196
552
+ ],
553
+ "orientation": {
554
+ "w": 0.07525304522855164,
555
+ "xyz": [
556
+ -0.059976462135371285,
557
+ 0.49096497754755875,
558
+ -0.8658482511360056
559
+ ]
560
+ }
561
+ }
562
+ }
563
+ },
564
+ {
565
+ "part_name": "rim",
566
+ "mask_color": "Yellow",
567
+ "graspable": false,
568
+ "grasp_scenarios": [],
569
+ "functional_labels": [
570
+ "join lid to body",
571
+ "guide lid placement",
572
+ "define the container opening",
573
+ "stiffen the top edge"
574
+ ],
575
+ "semantic_description": "A narrow white plastic rim with a smooth finish runs around the upper edge beneath the lid, forming a thin border at the top opening.",
576
+ "id": 3,
577
+ "grasp_group": {}
578
+ },
579
+ {
580
+ "part_name": "blade",
581
+ "mask_color": "Orange",
582
+ "graspable": false,
583
+ "grasp_scenarios": [],
584
+ "functional_labels": [
585
+ "sharpen pencil wood and graphite",
586
+ "cut material",
587
+ "form the pencil point"
588
+ ],
589
+ "semantic_description": "A small exposed silver metal blade with a reflective finish is mounted inside the sharpener mechanism, appearing flat and thin with a visible screw.",
590
+ "id": 4,
591
+ "grasp_group": {}
592
+ },
593
+ {
594
+ "part_name": "internal guide insert",
595
+ "mask_color": "Cyan",
596
+ "graspable": false,
597
+ "grasp_scenarios": [],
598
+ "functional_labels": [
599
+ "guide pencil insertion",
600
+ "support internal sharpener components",
601
+ "form part of the internal chamber"
602
+ ],
603
+ "semantic_description": "A translucent aqua plastic internal insert with a glossy smooth surface sits inside the container near the blade area and pencil path.",
604
+ "id": 6,
605
+ "grasp_group": {}
606
+ },
607
+ {
608
+ "part_name": "front accent panel",
609
+ "mask_color": "Red",
610
+ "graspable": false,
611
+ "grasp_scenarios": [],
612
+ "functional_labels": [
613
+ "form part of the outer wall",
614
+ "provide exterior styling",
615
+ "cover the front side of the housing"
616
+ ],
617
+ "semantic_description": "A salmon-pink opaque plastic front side panel with a smooth slightly glossy finish covers much of one exterior face of the sharpener body.",
618
+ "id": 0,
619
+ "grasp_group": {}
620
+ }
621
+ ],
622
+ "quality_check": {
623
+ "success": false,
624
+ "message": "Mask-part identities mismatch: cyan/red/orange labels are incorrect; blade color wrong and internal/front parts misassigned."
625
+ }
626
+ }
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b9de82919d3c1dd51b0e7de690c3533fa6167fbd1f4b71dd021351bbce6a0c5
3
+ size 3785964
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.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>