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
5f0ded9
·
verified ·
1 Parent(s): cd75c4b

Add asset desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/affordance_annot.json +884 -0
  3. dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/marker_006.urdf +1 -0
.gitattributes CHANGED
@@ -6385,4 +6385,4 @@ dataset/desktop_supplies/office_stationery/7f2dfe67cfeb5afa826cd0d220eeda36/affo
6385
  dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6386
  dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6387
  dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6388
- dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6385
  dataset/desktop_supplies/office_stationery/7f39ebff0a2a5df78f8fc8704c6ea561/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6386
  dataset/desktop_supplies/office_stationery/7fc01070125d5ed8b784ab27f3b8d40d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6387
  dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6388
+ dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/affordance_annot.json ADDED
@@ -0,0 +1,884 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "marker barrel",
5
+ "mask_color": "Cyan",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the main barrel near the center to pick up and move the marker",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the barrel in a writing grip while using the tip",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the body while orienting the marker tip toward a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main body",
23
+ "main grasp surface",
24
+ "contain ink reservoir",
25
+ "support writing grip",
26
+ "connect tip section to rear end"
27
+ ],
28
+ "semantic_description": "Long orange plastic body with a smooth hard surface, cylindrical overall with a slightly tapered front section and printed white branding on one side.",
29
+ "id": 6,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.8882516026496887,
33
+ "position": [
34
+ -0.10996782220900059,
35
+ -0.012856211986218113,
36
+ 0.04743222682736814
37
+ ],
38
+ "orientation": {
39
+ "w": 0.28777980819873217,
40
+ "xyz": [
41
+ 0.6452936334600577,
42
+ 0.5657489324230195,
43
+ 0.42509652324058256
44
+ ]
45
+ }
46
+ },
47
+ "grasp_23": {
48
+ "confidence": 0.8808469176292419,
49
+ "position": [
50
+ -0.10533617623150349,
51
+ -0.015527412768278737,
52
+ -0.05456720874644816
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6516274666683751,
56
+ "xyz": [
57
+ 0.2627774452394567,
58
+ 0.39312846921663047,
59
+ 0.5931101631637827
60
+ ]
61
+ }
62
+ },
63
+ "grasp_25": {
64
+ "confidence": 0.8756364583969116,
65
+ "position": [
66
+ -0.12424180097877979,
67
+ -0.0023569422846776433,
68
+ -0.0016068313270807266
69
+ ],
70
+ "orientation": {
71
+ "w": 0.46132927863859025,
72
+ "xyz": [
73
+ 0.5287677886838622,
74
+ 0.47313313493440556,
75
+ 0.5326583886022238
76
+ ]
77
+ }
78
+ },
79
+ "grasp_26": {
80
+ "confidence": 0.8574118614196777,
81
+ "position": [
82
+ -0.11770646460354328,
83
+ 0.0030127889403956942,
84
+ 0.027217607712373137
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4286556040113892,
88
+ "xyz": [
89
+ 0.5860099209769967,
90
+ 0.5407599107241612,
91
+ 0.4247651876269544
92
+ ]
93
+ }
94
+ },
95
+ "grasp_28": {
96
+ "confidence": 0.8518906235694885,
97
+ "position": [
98
+ -0.10608737356960773,
99
+ 0.049146146040584426,
100
+ -0.004920267732813954
101
+ ],
102
+ "orientation": {
103
+ "w": 0.18526376068719294,
104
+ "xyz": [
105
+ 0.6697674734891497,
106
+ -0.1669945318539786,
107
+ 0.6994295509648345
108
+ ]
109
+ }
110
+ },
111
+ "grasp_32": {
112
+ "confidence": 0.8392912149429321,
113
+ "position": [
114
+ -0.12119602598249912,
115
+ 0.0019879387618857436,
116
+ -0.001245934865437448
117
+ ],
118
+ "orientation": {
119
+ "w": 0.45053638872374224,
120
+ "xyz": [
121
+ -0.5297717707987339,
122
+ 0.4588382084867463,
123
+ -0.5530156704228328
124
+ ]
125
+ }
126
+ },
127
+ "grasp_33": {
128
+ "confidence": 0.8295139074325562,
129
+ "position": [
130
+ -0.1303426269441843,
131
+ -0.003453128047112841,
132
+ -0.0036130640655755997
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4828397306596499,
136
+ "xyz": [
137
+ -0.5167899843910813,
138
+ 0.4648070274770456,
139
+ -0.5326803297828215
140
+ ]
141
+ }
142
+ },
143
+ "grasp_34": {
144
+ "confidence": 0.8290163278579712,
145
+ "position": [
146
+ -0.12712549604475498,
147
+ -0.004010663375083823,
148
+ -0.0018180094193667173
149
+ ],
150
+ "orientation": {
151
+ "w": 0.7132940928796077,
152
+ "xyz": [
153
+ -0.06026346081921717,
154
+ 0.6959139090289241,
155
+ -0.0573034342184696
156
+ ]
157
+ }
158
+ },
159
+ "grasp_36": {
160
+ "confidence": 0.8071449995040894,
161
+ "position": [
162
+ -0.11989627964794636,
163
+ -0.0018313798427698202,
164
+ 0.0030186979565769434
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5355154587128725,
168
+ "xyz": [
169
+ -0.452338808866141,
170
+ 0.5497282103261095,
171
+ -0.45432553334008735
172
+ ]
173
+ }
174
+ },
175
+ "grasp_38": {
176
+ "confidence": 0.8033192157745361,
177
+ "position": [
178
+ -0.1047042477875948,
179
+ 0.02581988507154165,
180
+ 0.042121475329622626
181
+ ],
182
+ "orientation": {
183
+ "w": 0.49818774243671826,
184
+ "xyz": [
185
+ 0.5143702050944702,
186
+ 0.6711850012346333,
187
+ 0.19168453123438278
188
+ ]
189
+ }
190
+ }
191
+ }
192
+ },
193
+ {
194
+ "part_name": "rear grip cap",
195
+ "mask_color": "Magenta",
196
+ "graspable": true,
197
+ "grasp_scenarios": [
198
+ {
199
+ "scenario": "grasp the rear grip section to pick up or reposition the marker",
200
+ "confidence": 0.88
201
+ },
202
+ {
203
+ "scenario": "hold the rear section while adjusting marker orientation before writing",
204
+ "confidence": 0.78
205
+ },
206
+ {
207
+ "scenario": "use the rear section as an alternate grasp point when the main barrel is obstructed",
208
+ "confidence": 0.7
209
+ }
210
+ ],
211
+ "functional_labels": [
212
+ "rear housing",
213
+ "secondary grasp surface",
214
+ "close rear portion of body",
215
+ "support pocket clip"
216
+ ],
217
+ "semantic_description": "Orange plastic rear section at the back of the marker, slightly wider than the barrel, smooth and hard, with an integrated pocket clip and white printed branding visible in some views.",
218
+ "id": 7,
219
+ "grasp_group": {
220
+ "grasp_40": {
221
+ "confidence": 0.944248378276825,
222
+ "position": [
223
+ 0.10715673677623272,
224
+ 0.007330592248763423,
225
+ 0.043640816351398826
226
+ ],
227
+ "orientation": {
228
+ "w": 0.32063474983254203,
229
+ "xyz": [
230
+ -0.6305741590426889,
231
+ -0.5848501559276266,
232
+ 0.396887745160845
233
+ ]
234
+ }
235
+ },
236
+ "grasp_42": {
237
+ "confidence": 0.9185461401939392,
238
+ "position": [
239
+ 0.11903824470937252,
240
+ -0.004011662218545098,
241
+ 0.0035711831878870726
242
+ ],
243
+ "orientation": {
244
+ "w": 0.5266025640789774,
245
+ "xyz": [
246
+ -0.49327098286688986,
247
+ -0.5234026016588273,
248
+ 0.45323635505522974
249
+ ]
250
+ }
251
+ },
252
+ "grasp_43": {
253
+ "confidence": 0.9179352521896362,
254
+ "position": [
255
+ 0.10640244744718075,
256
+ -0.02965196735021891,
257
+ 0.04251184104941785
258
+ ],
259
+ "orientation": {
260
+ "w": 0.5011508464535643,
261
+ "xyz": [
262
+ -0.5039219618966321,
263
+ -0.6833812853458506,
264
+ 0.16703444032946652
265
+ ]
266
+ }
267
+ },
268
+ "grasp_44": {
269
+ "confidence": 0.9160274267196655,
270
+ "position": [
271
+ 0.10648242942988873,
272
+ 0.01800025859120069,
273
+ -0.04706198559142649
274
+ ],
275
+ "orientation": {
276
+ "w": 0.675727021340362,
277
+ "xyz": [
278
+ -0.2276471528064559,
279
+ -0.46075229853427635,
280
+ 0.5284667310673178
281
+ ]
282
+ }
283
+ },
284
+ "grasp_45": {
285
+ "confidence": 0.9153207540512085,
286
+ "position": [
287
+ 0.1194178368896246,
288
+ -0.00829845434782328,
289
+ -0.0005242042825557292
290
+ ],
291
+ "orientation": {
292
+ "w": 0.5112720125698361,
293
+ "xyz": [
294
+ -0.5216227207045615,
295
+ -0.48578107911344015,
296
+ 0.4801326999725621
297
+ ]
298
+ }
299
+ },
300
+ "grasp_46": {
301
+ "confidence": 0.9134600758552551,
302
+ "position": [
303
+ 0.10561058484017849,
304
+ 0.024223050560976844,
305
+ -0.04694307432509959
306
+ ],
307
+ "orientation": {
308
+ "w": 0.681927815651799,
309
+ "xyz": [
310
+ -0.19053811519206626,
311
+ -0.48691425014695666,
312
+ 0.5114530221860544
313
+ ]
314
+ }
315
+ },
316
+ "grasp_47": {
317
+ "confidence": 0.9133583307266235,
318
+ "position": [
319
+ 0.11894182674586773,
320
+ -0.0014373312078532763,
321
+ -9.918789146468043e-05
322
+ ],
323
+ "orientation": {
324
+ "w": 0.5684105380013067,
325
+ "xyz": [
326
+ -0.4376578321651193,
327
+ -0.5662019757390321,
328
+ 0.40593152735752025
329
+ ]
330
+ }
331
+ },
332
+ "grasp_48": {
333
+ "confidence": 0.9118589162826538,
334
+ "position": [
335
+ 0.09258069656789303,
336
+ 0.00266568850929616,
337
+ -0.06567784608341753
338
+ ],
339
+ "orientation": {
340
+ "w": 0.6897665256937818,
341
+ "xyz": [
342
+ 0.2762400815096739,
343
+ -0.3107002826080739,
344
+ -0.592772209020565
345
+ ]
346
+ }
347
+ },
348
+ "grasp_51": {
349
+ "confidence": 0.9016034603118896,
350
+ "position": [
351
+ 0.12142142467200756,
352
+ -0.0002355311662540771,
353
+ 0.0005452988552860916
354
+ ],
355
+ "orientation": {
356
+ "w": 0.4363529687250829,
357
+ "xyz": [
358
+ 0.5569956520045994,
359
+ -0.4244185804975815,
360
+ -0.5649962821658174
361
+ ]
362
+ }
363
+ },
364
+ "grasp_52": {
365
+ "confidence": 0.9006882905960083,
366
+ "position": [
367
+ 0.11758125387132168,
368
+ -0.0032515986895305105,
369
+ -0.0035777073353528976
370
+ ],
371
+ "orientation": {
372
+ "w": 0.519857601291331,
373
+ "xyz": [
374
+ -0.5110024014956722,
375
+ -0.49685646959738494,
376
+ 0.47091216661337476
377
+ ]
378
+ }
379
+ },
380
+ "grasp_53": {
381
+ "confidence": 0.8978744149208069,
382
+ "position": [
383
+ 0.11115594767034054,
384
+ 0.004755024790938478,
385
+ -0.04410578147508204
386
+ ],
387
+ "orientation": {
388
+ "w": 0.6424002663847194,
389
+ "xyz": [
390
+ -0.32211017438050127,
391
+ -0.3978333385384588,
392
+ 0.5703468839721564
393
+ ]
394
+ }
395
+ },
396
+ "grasp_55": {
397
+ "confidence": 0.8951075673103333,
398
+ "position": [
399
+ 0.1057106014341116,
400
+ -0.024929796818469185,
401
+ -0.0449988862965256
402
+ ],
403
+ "orientation": {
404
+ "w": 0.5586079792441985,
405
+ "xyz": [
406
+ -0.4742214268455782,
407
+ -0.21055515154875726,
408
+ 0.6470994452180723
409
+ ]
410
+ }
411
+ },
412
+ "grasp_57": {
413
+ "confidence": 0.892219066619873,
414
+ "position": [
415
+ 0.10996494255959988,
416
+ 0.016504282590176445,
417
+ -0.04195643053390086
418
+ ],
419
+ "orientation": {
420
+ "w": 0.6747698671104944,
421
+ "xyz": [
422
+ -0.2427902733023925,
423
+ -0.4667934222561464,
424
+ 0.5175349365674076
425
+ ]
426
+ }
427
+ },
428
+ "grasp_58": {
429
+ "confidence": 0.8921859264373779,
430
+ "position": [
431
+ 0.11965775303542614,
432
+ -0.004180424388323445,
433
+ 0.004418806871399283
434
+ ],
435
+ "orientation": {
436
+ "w": 0.5000766438035937,
437
+ "xyz": [
438
+ 0.48804223947526193,
439
+ -0.5236231495794251,
440
+ -0.4873981124651886
441
+ ]
442
+ }
443
+ },
444
+ "grasp_59": {
445
+ "confidence": 0.8914760947227478,
446
+ "position": [
447
+ 0.11790571175515652,
448
+ -0.0021297822313499637,
449
+ -0.0003671621670946479
450
+ ],
451
+ "orientation": {
452
+ "w": 0.42675164622843736,
453
+ "xyz": [
454
+ 0.5687862539173927,
455
+ -0.41167122124680144,
456
+ -0.5699930134599064
457
+ ]
458
+ }
459
+ }
460
+ }
461
+ },
462
+ {
463
+ "part_name": "rear end plug",
464
+ "mask_color": "Blue",
465
+ "graspable": true,
466
+ "grasp_scenarios": [
467
+ {
468
+ "scenario": "pinch the small rear end plug lightly to help orient or reposition the marker",
469
+ "confidence": 0.33
470
+ }
471
+ ],
472
+ "functional_labels": [
473
+ "close rear end",
474
+ "provide end stop",
475
+ "support rear housing shape"
476
+ ],
477
+ "semantic_description": "Small orange plastic end piece at the far back of the marker, smooth and hard, short cylindrical form, slightly protruding from the rear section.",
478
+ "id": 2,
479
+ "grasp_group": {
480
+ "grasp_0": {
481
+ "confidence": 0.8056214451789856,
482
+ "position": [
483
+ 0.11798823438584805,
484
+ 0.009211652439262252,
485
+ -0.04364247084595263
486
+ ],
487
+ "orientation": {
488
+ "w": 0.542340051356233,
489
+ "xyz": [
490
+ 0.4266002182862734,
491
+ -0.2669137926570633,
492
+ -0.6727826913219788
493
+ ]
494
+ }
495
+ },
496
+ "grasp_1": {
497
+ "confidence": 0.7993134260177612,
498
+ "position": [
499
+ 0.12459986470639706,
500
+ -0.00032988351449603215,
501
+ 0.008056614315137267
502
+ ],
503
+ "orientation": {
504
+ "w": 0.5322635984778047,
505
+ "xyz": [
506
+ 0.45840220608756993,
507
+ -0.5422166802368957,
508
+ -0.46104658209598204
509
+ ]
510
+ }
511
+ },
512
+ "grasp_7": {
513
+ "confidence": 0.9034770131111145,
514
+ "position": [
515
+ 0.028185267001390457,
516
+ 0.05157150746526895,
517
+ 0.0863851064350456
518
+ ],
519
+ "orientation": {
520
+ "w": 0.18397080185794412,
521
+ "xyz": [
522
+ 0.6653397117360278,
523
+ -0.6886223439133179,
524
+ 0.22198441277281622
525
+ ]
526
+ }
527
+ },
528
+ "grasp_9": {
529
+ "confidence": 0.8580871820449829,
530
+ "position": [
531
+ 0.08287623338401318,
532
+ 0.04283693478646455,
533
+ -0.0745340755674988
534
+ ],
535
+ "orientation": {
536
+ "w": 0.6242426030307325,
537
+ "xyz": [
538
+ 0.34864466460291677,
539
+ 0.009847194614363008,
540
+ -0.6990501435258861
541
+ ]
542
+ }
543
+ },
544
+ "grasp_10": {
545
+ "confidence": 0.8114786148071289,
546
+ "position": [
547
+ 0.129239609465003,
548
+ -0.0027740341683966108,
549
+ 0.0010470603592693806
550
+ ],
551
+ "orientation": {
552
+ "w": 0.1790546928757741,
553
+ "xyz": [
554
+ -0.6906614505149957,
555
+ -0.14436028551835356,
556
+ 0.6856283874641886
557
+ ]
558
+ }
559
+ },
560
+ "grasp_19": {
561
+ "confidence": 0.958757758140564,
562
+ "position": [
563
+ -0.03996800445020199,
564
+ -0.008766188759182114,
565
+ 0.09926076023839414
566
+ ],
567
+ "orientation": {
568
+ "w": 0.0581104617189476,
569
+ "xyz": [
570
+ -0.71270430869579,
571
+ 0.6990534532803383,
572
+ -0.00010982759628956748
573
+ ]
574
+ }
575
+ }
576
+ }
577
+ },
578
+ {
579
+ "part_name": "tip collar",
580
+ "mask_color": "Blue",
581
+ "graspable": false,
582
+ "grasp_scenarios": [],
583
+ "functional_labels": [
584
+ "support the writing tip",
585
+ "transition from barrel to tip",
586
+ "locate front tip assembly"
587
+ ],
588
+ "semantic_description": "Orange plastic collar near the front of the marker with a smooth hard surface and ring-like bands around the circumference, positioned behind the writing tip.",
589
+ "id": 2,
590
+ "grasp_group": {
591
+ "grasp_0": {
592
+ "confidence": 0.8056214451789856,
593
+ "position": [
594
+ 0.11798823438584805,
595
+ 0.009211652439262252,
596
+ -0.04364247084595263
597
+ ],
598
+ "orientation": {
599
+ "w": 0.542340051356233,
600
+ "xyz": [
601
+ 0.4266002182862734,
602
+ -0.2669137926570633,
603
+ -0.6727826913219788
604
+ ]
605
+ }
606
+ },
607
+ "grasp_1": {
608
+ "confidence": 0.7993134260177612,
609
+ "position": [
610
+ 0.12459986470639706,
611
+ -0.00032988351449603215,
612
+ 0.008056614315137267
613
+ ],
614
+ "orientation": {
615
+ "w": 0.5322635984778047,
616
+ "xyz": [
617
+ 0.45840220608756993,
618
+ -0.5422166802368957,
619
+ -0.46104658209598204
620
+ ]
621
+ }
622
+ },
623
+ "grasp_7": {
624
+ "confidence": 0.9034770131111145,
625
+ "position": [
626
+ 0.028185267001390457,
627
+ 0.05157150746526895,
628
+ 0.0863851064350456
629
+ ],
630
+ "orientation": {
631
+ "w": 0.18397080185794412,
632
+ "xyz": [
633
+ 0.6653397117360278,
634
+ -0.6886223439133179,
635
+ 0.22198441277281622
636
+ ]
637
+ }
638
+ },
639
+ "grasp_9": {
640
+ "confidence": 0.8580871820449829,
641
+ "position": [
642
+ 0.08287623338401318,
643
+ 0.04283693478646455,
644
+ -0.0745340755674988
645
+ ],
646
+ "orientation": {
647
+ "w": 0.6242426030307325,
648
+ "xyz": [
649
+ 0.34864466460291677,
650
+ 0.009847194614363008,
651
+ -0.6990501435258861
652
+ ]
653
+ }
654
+ },
655
+ "grasp_10": {
656
+ "confidence": 0.8114786148071289,
657
+ "position": [
658
+ 0.129239609465003,
659
+ -0.0027740341683966108,
660
+ 0.0010470603592693806
661
+ ],
662
+ "orientation": {
663
+ "w": 0.1790546928757741,
664
+ "xyz": [
665
+ -0.6906614505149957,
666
+ -0.14436028551835356,
667
+ 0.6856283874641886
668
+ ]
669
+ }
670
+ },
671
+ "grasp_19": {
672
+ "confidence": 0.958757758140564,
673
+ "position": [
674
+ -0.03996800445020199,
675
+ -0.008766188759182114,
676
+ 0.09926076023839414
677
+ ],
678
+ "orientation": {
679
+ "w": 0.0581104617189476,
680
+ "xyz": [
681
+ -0.71270430869579,
682
+ 0.6990534532803383,
683
+ -0.00010982759628956748
684
+ ]
685
+ }
686
+ }
687
+ }
688
+ },
689
+ {
690
+ "part_name": "marker tip",
691
+ "mask_color": "Cyan",
692
+ "graspable": false,
693
+ "grasp_scenarios": [],
694
+ "functional_labels": [
695
+ "write",
696
+ "draw lines",
697
+ "transfer ink to a surface",
698
+ "make contact marks"
699
+ ],
700
+ "semantic_description": "Small dark brown porous felt-like tip with a matte texture and pointed bullet shape, protruding from the front for marking.",
701
+ "id": 6,
702
+ "grasp_group": {
703
+ "grasp_21": {
704
+ "confidence": 0.8882516026496887,
705
+ "position": [
706
+ -0.10996782220900059,
707
+ -0.012856211986218113,
708
+ 0.04743222682736814
709
+ ],
710
+ "orientation": {
711
+ "w": 0.28777980819873217,
712
+ "xyz": [
713
+ 0.6452936334600577,
714
+ 0.5657489324230195,
715
+ 0.42509652324058256
716
+ ]
717
+ }
718
+ },
719
+ "grasp_23": {
720
+ "confidence": 0.8808469176292419,
721
+ "position": [
722
+ -0.10533617623150349,
723
+ -0.015527412768278737,
724
+ -0.05456720874644816
725
+ ],
726
+ "orientation": {
727
+ "w": 0.6516274666683751,
728
+ "xyz": [
729
+ 0.2627774452394567,
730
+ 0.39312846921663047,
731
+ 0.5931101631637827
732
+ ]
733
+ }
734
+ },
735
+ "grasp_25": {
736
+ "confidence": 0.8756364583969116,
737
+ "position": [
738
+ -0.12424180097877979,
739
+ -0.0023569422846776433,
740
+ -0.0016068313270807266
741
+ ],
742
+ "orientation": {
743
+ "w": 0.46132927863859025,
744
+ "xyz": [
745
+ 0.5287677886838622,
746
+ 0.47313313493440556,
747
+ 0.5326583886022238
748
+ ]
749
+ }
750
+ },
751
+ "grasp_26": {
752
+ "confidence": 0.8574118614196777,
753
+ "position": [
754
+ -0.11770646460354328,
755
+ 0.0030127889403956942,
756
+ 0.027217607712373137
757
+ ],
758
+ "orientation": {
759
+ "w": 0.4286556040113892,
760
+ "xyz": [
761
+ 0.5860099209769967,
762
+ 0.5407599107241612,
763
+ 0.4247651876269544
764
+ ]
765
+ }
766
+ },
767
+ "grasp_28": {
768
+ "confidence": 0.8518906235694885,
769
+ "position": [
770
+ -0.10608737356960773,
771
+ 0.049146146040584426,
772
+ -0.004920267732813954
773
+ ],
774
+ "orientation": {
775
+ "w": 0.18526376068719294,
776
+ "xyz": [
777
+ 0.6697674734891497,
778
+ -0.1669945318539786,
779
+ 0.6994295509648345
780
+ ]
781
+ }
782
+ },
783
+ "grasp_32": {
784
+ "confidence": 0.8392912149429321,
785
+ "position": [
786
+ -0.12119602598249912,
787
+ 0.0019879387618857436,
788
+ -0.001245934865437448
789
+ ],
790
+ "orientation": {
791
+ "w": 0.45053638872374224,
792
+ "xyz": [
793
+ -0.5297717707987339,
794
+ 0.4588382084867463,
795
+ -0.5530156704228328
796
+ ]
797
+ }
798
+ },
799
+ "grasp_33": {
800
+ "confidence": 0.8295139074325562,
801
+ "position": [
802
+ -0.1303426269441843,
803
+ -0.003453128047112841,
804
+ -0.0036130640655755997
805
+ ],
806
+ "orientation": {
807
+ "w": 0.4828397306596499,
808
+ "xyz": [
809
+ -0.5167899843910813,
810
+ 0.4648070274770456,
811
+ -0.5326803297828215
812
+ ]
813
+ }
814
+ },
815
+ "grasp_34": {
816
+ "confidence": 0.8290163278579712,
817
+ "position": [
818
+ -0.12712549604475498,
819
+ -0.004010663375083823,
820
+ -0.0018180094193667173
821
+ ],
822
+ "orientation": {
823
+ "w": 0.7132940928796077,
824
+ "xyz": [
825
+ -0.06026346081921717,
826
+ 0.6959139090289241,
827
+ -0.0573034342184696
828
+ ]
829
+ }
830
+ },
831
+ "grasp_36": {
832
+ "confidence": 0.8071449995040894,
833
+ "position": [
834
+ -0.11989627964794636,
835
+ -0.0018313798427698202,
836
+ 0.0030186979565769434
837
+ ],
838
+ "orientation": {
839
+ "w": 0.5355154587128725,
840
+ "xyz": [
841
+ -0.452338808866141,
842
+ 0.5497282103261095,
843
+ -0.45432553334008735
844
+ ]
845
+ }
846
+ },
847
+ "grasp_38": {
848
+ "confidence": 0.8033192157745361,
849
+ "position": [
850
+ -0.1047042477875948,
851
+ 0.02581988507154165,
852
+ 0.042121475329622626
853
+ ],
854
+ "orientation": {
855
+ "w": 0.49818774243671826,
856
+ "xyz": [
857
+ 0.5143702050944702,
858
+ 0.6711850012346333,
859
+ 0.19168453123438278
860
+ ]
861
+ }
862
+ }
863
+ }
864
+ },
865
+ {
866
+ "part_name": "barrel seam ring",
867
+ "mask_color": "Lime Green",
868
+ "graspable": false,
869
+ "grasp_scenarios": [],
870
+ "functional_labels": [
871
+ "define junction between rear section and barrel",
872
+ "indicate assembly boundary",
873
+ "separate adjoining plastic sections"
874
+ ],
875
+ "semantic_description": "Very thin orange ring at the junction between the rear grip section and the main barrel, appearing as a narrow seam encircling the marker.",
876
+ "id": 9,
877
+ "grasp_group": {}
878
+ }
879
+ ],
880
+ "quality_check": {
881
+ "success": false,
882
+ "message": "Mask colors and part identities are mismatched; tip and barrel colors incorrect, blue used for two different parts, descriptions include nonexistent printed branding."
883
+ }
884
+ }
dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70e7afe2ffbcde5552e44857e720a84973504232973c52d62b1e14b2bb81f8a5
3
+ size 3793496
dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/marker_006.urdf CHANGED
@@ -54,6 +54,7 @@
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
 
57
  </affordance>
58
  <quality>
59
  <PartSegChecker>YES</PartSegChecker>
 
54
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
55
  </geometry>
56
  </visual_seg>
57
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
58
  </affordance>
59
  <quality>
60
  <PartSegChecker>YES</PartSegChecker>