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
73ad99d
·
verified ·
1 Parent(s): 2d067e1

Add asset desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/affordance/affordance_annot.json +742 -0
  3. dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.urdf +1 -0
.gitattributes CHANGED
@@ -6510,4 +6510,4 @@ dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affo
6510
  dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6511
  dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6512
  dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6513
- dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6510
  dataset/desktop_supplies/office_stationery/d263cb9be98b5fa7b60e900b96e20482/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6511
  dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6512
  dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6513
+ dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glue stick cap",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to remove it from the glue stick",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the cap to reattach and press it back on",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "pick up the whole glue stick by the cap for quick relocation",
18
+ "confidence": 0.54
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the glue",
23
+ "protect the adhesive from drying",
24
+ "provide a pull-off grip",
25
+ "seal the top opening"
26
+ ],
27
+ "semantic_description": "A medium blue plastic cap with a slightly glossy hard finish, ribbed sides for traction, a flat circular top with small white printed markings, and a short cylindrical shape at the top of the stick.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.8219901323318481,
32
+ "position": [
33
+ -0.06393091936479323,
34
+ 0.07127615108038299,
35
+ 0.0571150709874928
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2662641969823807,
39
+ "xyz": [
40
+ -0.25007796497273455,
41
+ 0.6964759355104121,
42
+ -0.6176452542481973
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.8113629221916199,
48
+ "position": [
49
+ -0.09690897722612135,
50
+ 0.001767966168699786,
51
+ 0.057054147589951754
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5314356799399894,
55
+ "xyz": [
56
+ 0.49662378237490173,
57
+ 0.5426568915103238,
58
+ 0.42007670128527713
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9198722839355469,
64
+ "position": [
65
+ 0.07071584652294405,
66
+ 0.05890720753814094,
67
+ 0.08905153395608068
68
+ ],
69
+ "orientation": {
70
+ "w": 0.45150743531784615,
71
+ "xyz": [
72
+ 0.798215487991921,
73
+ -0.2997550771084241,
74
+ -0.26294479331267095
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.8732011914253235,
80
+ "position": [
81
+ 0.026795504643814638,
82
+ -0.09439181492780335,
83
+ 0.053510856349021196
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6709497741947186,
87
+ "xyz": [
88
+ -0.7305347085851336,
89
+ -0.09195583113128214,
90
+ 0.08769016581946354
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.8619205951690674,
96
+ "position": [
97
+ -0.07075563629041426,
98
+ -0.06869120852206834,
99
+ 0.07777554215863347
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5360978725496395,
103
+ "xyz": [
104
+ -0.7358114825542087,
105
+ 0.3593332961256831,
106
+ -0.20508562963937685
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9246644973754883,
112
+ "position": [
113
+ 0.07795016656746157,
114
+ 0.06512951149488799,
115
+ 0.04684987338259816
116
+ ],
117
+ "orientation": {
118
+ "w": 0.29119747574099547,
119
+ "xyz": [
120
+ -0.3257333105866802,
121
+ -0.6356929524176237,
122
+ 0.6363932045071493
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.8744400143623352,
128
+ "position": [
129
+ -0.01785229702363722,
130
+ -0.03476125330780633,
131
+ 0.13094575377181172
132
+ ],
133
+ "orientation": {
134
+ "w": 0.20452328358910046,
135
+ "xyz": [
136
+ -0.9262335972407209,
137
+ 0.3134561912750695,
138
+ -0.044796941455569075
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.8579710125923157,
144
+ "position": [
145
+ -0.02204018083284609,
146
+ -0.0980467791960109,
147
+ 0.0623188060708344
148
+ ],
149
+ "orientation": {
150
+ "w": 0.08247291208592271,
151
+ "xyz": [
152
+ 0.10213825848870413,
153
+ 0.7586083277220238,
154
+ 0.6381844561220191
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.8483870625495911,
160
+ "position": [
161
+ -0.00453933046082966,
162
+ 0.0989289139106404,
163
+ 0.05501982616260648
164
+ ],
165
+ "orientation": {
166
+ "w": 0.05194276142467141,
167
+ "xyz": [
168
+ 0.005703448119289472,
169
+ 0.7408663691985693,
170
+ -0.6696166389850686
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.819782555103302,
176
+ "position": [
177
+ -0.0020663095347117633,
178
+ -0.0037062310439068824,
179
+ 0.1382627901621163
180
+ ],
181
+ "orientation": {
182
+ "w": 0.043841805466313936,
183
+ "xyz": [
184
+ -0.7226841333763478,
185
+ -0.6895902307482088,
186
+ 0.016457615749661404
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.921669065952301,
192
+ "position": [
193
+ -0.09223131646285765,
194
+ 0.03244145630742423,
195
+ 0.04637908982113004
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5799840137097568,
199
+ "xyz": [
200
+ 0.5689314965360209,
201
+ 0.4313200289650939,
202
+ 0.3922990297005017
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9196869134902954,
208
+ "position": [
209
+ 0.04381708617438562,
210
+ 0.04356861158157699,
211
+ 0.11980270268395543
212
+ ],
213
+ "orientation": {
214
+ "w": 0.12537309411807374,
215
+ "xyz": [
216
+ -0.3993039713395573,
217
+ -0.8596534355914344,
218
+ 0.2929742248382314
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.8937689661979675,
224
+ "position": [
225
+ 0.017354238807456568,
226
+ 0.007527823996497318,
227
+ 0.13899740250781178
228
+ ],
229
+ "orientation": {
230
+ "w": 0.10049903237057037,
231
+ "xyz": [
232
+ 0.8107143858288441,
233
+ -0.5735858083374267,
234
+ -0.06034442456963055
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.8849771618843079,
240
+ "position": [
241
+ -0.09646579434047453,
242
+ -0.042742602090584114,
243
+ 0.06313641043379903
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5404137781958143,
247
+ "xyz": [
248
+ -0.6371376156733733,
249
+ 0.4312462259315498,
250
+ -0.34063954504720795
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.8689801096916199,
256
+ "position": [
257
+ -0.03128547591040842,
258
+ -0.020334995846496895,
259
+ 0.1304275062866509
260
+ ],
261
+ "orientation": {
262
+ "w": 0.11866264894485076,
263
+ "xyz": [
264
+ 0.3766249915420093,
265
+ 0.9049304066431807,
266
+ 0.1586623793593824
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.8395461440086365,
272
+ "position": [
273
+ -0.024656416819198057,
274
+ 0.08156803293968551,
275
+ 0.0941069615073502
276
+ ],
277
+ "orientation": {
278
+ "w": 0.49470000847515105,
279
+ "xyz": [
280
+ 0.8512702548938631,
281
+ 0.1640636616783242,
282
+ 0.06077803603542542
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.8237314820289612,
288
+ "position": [
289
+ -0.054516298667294905,
290
+ 0.06681506379391067,
291
+ 0.09504893841221929
292
+ ],
293
+ "orientation": {
294
+ "w": 0.47834026071413255,
295
+ "xyz": [
296
+ 0.8038930627952868,
297
+ 0.32025247568012327,
298
+ 0.1496158092926691
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.8098328113555908,
304
+ "position": [
305
+ 0.010264994605677202,
306
+ -0.0015549663512501866,
307
+ 0.13915742607787251
308
+ ],
309
+ "orientation": {
310
+ "w": 0.08501752536403052,
311
+ "xyz": [
312
+ -0.6446685419342761,
313
+ -0.7583336212357499,
314
+ 0.045876032138634164
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "collar below cap",
322
+ "mask_color": "Lime Green",
323
+ "graspable": false,
324
+ "grasp_scenarios": [],
325
+ "functional_labels": [
326
+ "connect cap to body region",
327
+ "provide a seating rim for the cap",
328
+ "define the top transition"
329
+ ],
330
+ "semantic_description": "A narrow blue plastic ring just below the cap, hard and smooth with a slightly glossy finish, forming a thin circular shoulder around the upper body.",
331
+ "id": 9,
332
+ "grasp_group": {}
333
+ },
334
+ {
335
+ "part_name": "glue stick body",
336
+ "mask_color": "Blue",
337
+ "graspable": true,
338
+ "grasp_scenarios": [
339
+ {
340
+ "scenario": "grasp the main body to pick up and move the glue stick",
341
+ "confidence": 0.96
342
+ },
343
+ {
344
+ "scenario": "hold the body while removing or replacing the cap",
345
+ "confidence": 0.94
346
+ },
347
+ {
348
+ "scenario": "stabilize the glue stick during application or twisting",
349
+ "confidence": 0.9
350
+ }
351
+ ],
352
+ "functional_labels": [
353
+ "main grasp surface",
354
+ "house the glue mechanism",
355
+ "support handling during use",
356
+ "carry product branding"
357
+ ],
358
+ "semantic_description": "A tall light-blue plastic cylindrical body with a smooth slightly glossy hard surface, tapered subtly toward the top, decorated with colorful printed graphics and white wave lines around the lower-middle area.",
359
+ "id": 2,
360
+ "grasp_group": {
361
+ "grasp_0": {
362
+ "confidence": 0.9934038519859314,
363
+ "position": [
364
+ -0.07799961228738539,
365
+ -0.053092736314283684,
366
+ -0.06290855957195163
367
+ ],
368
+ "orientation": {
369
+ "w": 0.735634603189295,
370
+ "xyz": [
371
+ -0.4778843539506976,
372
+ 0.25816469011767396,
373
+ -0.404745929709118
374
+ ]
375
+ }
376
+ },
377
+ "grasp_1": {
378
+ "confidence": 0.9932844638824463,
379
+ "position": [
380
+ 0.04094276766409166,
381
+ 0.08829753889585845,
382
+ -0.011660095769912004
383
+ ],
384
+ "orientation": {
385
+ "w": 0.16674156711838625,
386
+ "xyz": [
387
+ -0.13603242735383808,
388
+ -0.680886511896774,
389
+ 0.7000614161773033
390
+ ]
391
+ }
392
+ },
393
+ "grasp_2": {
394
+ "confidence": 0.992520809173584,
395
+ "position": [
396
+ -0.09563833285938017,
397
+ -0.008805382560240105,
398
+ -0.052398118656128645
399
+ ],
400
+ "orientation": {
401
+ "w": 0.5770779966003953,
402
+ "xyz": [
403
+ -0.45347070669192063,
404
+ 0.39724983894463106,
405
+ -0.5509427097897465
406
+ ]
407
+ }
408
+ },
409
+ "grasp_3": {
410
+ "confidence": 0.992333173751831,
411
+ "position": [
412
+ -0.08244672973523848,
413
+ -0.04895359979127534,
414
+ -0.06104504643008113
415
+ ],
416
+ "orientation": {
417
+ "w": 0.41595673303089814,
418
+ "xyz": [
419
+ 0.2834245534056018,
420
+ 0.47517700717826994,
421
+ 0.7217044621049533
422
+ ]
423
+ }
424
+ },
425
+ "grasp_4": {
426
+ "confidence": 0.9920961856842041,
427
+ "position": [
428
+ -0.09583961029420607,
429
+ 0.005790141847683117,
430
+ -0.05505628092214465
431
+ ],
432
+ "orientation": {
433
+ "w": 0.5372433548621999,
434
+ "xyz": [
435
+ -0.4143696050426881,
436
+ 0.4428108336316703,
437
+ -0.586162071181342
438
+ ]
439
+ }
440
+ },
441
+ "grasp_5": {
442
+ "confidence": 0.9920039772987366,
443
+ "position": [
444
+ -0.09596485455404036,
445
+ -0.01289972526137717,
446
+ -0.03947969479486346
447
+ ],
448
+ "orientation": {
449
+ "w": 0.5694168817506955,
450
+ "xyz": [
451
+ -0.4828262025173309,
452
+ 0.42173423549958566,
453
+ -0.5145711880270675
454
+ ]
455
+ }
456
+ },
457
+ "grasp_7": {
458
+ "confidence": 0.9919543862342834,
459
+ "position": [
460
+ -0.08376587738166563,
461
+ -0.04428173930500634,
462
+ -0.0687776985578239
463
+ ],
464
+ "orientation": {
465
+ "w": 0.4447817555864555,
466
+ "xyz": [
467
+ 0.2778368516114414,
468
+ 0.45772058876392463,
469
+ 0.7179608181549176
470
+ ]
471
+ }
472
+ },
473
+ "grasp_8": {
474
+ "confidence": 0.9919060468673706,
475
+ "position": [
476
+ -0.09273113866220228,
477
+ -0.023646082292543724,
478
+ -0.048067289870232344
479
+ ],
480
+ "orientation": {
481
+ "w": 0.4976227723771001,
482
+ "xyz": [
483
+ 0.3810876026904789,
484
+ 0.46828064937285396,
485
+ 0.6227817024530263
486
+ ]
487
+ }
488
+ },
489
+ "grasp_9": {
490
+ "confidence": 0.9918573498725891,
491
+ "position": [
492
+ -0.09827071239124052,
493
+ -0.010258345428155735,
494
+ -0.019390480127185583
495
+ ],
496
+ "orientation": {
497
+ "w": 0.5135413998985902,
498
+ "xyz": [
499
+ -0.5297550762501757,
500
+ 0.47133837947017665,
501
+ -0.48319242731627565
502
+ ]
503
+ }
504
+ },
505
+ "grasp_10": {
506
+ "confidence": 0.991754412651062,
507
+ "position": [
508
+ -0.0775166209496092,
509
+ -0.045066128979669884,
510
+ -0.07124368427321315
511
+ ],
512
+ "orientation": {
513
+ "w": 0.7396601874017642,
514
+ "xyz": [
515
+ -0.42705750768411566,
516
+ 0.26382845694259704,
517
+ -0.44824015617825536
518
+ ]
519
+ }
520
+ },
521
+ "grasp_11": {
522
+ "confidence": 0.9915090799331665,
523
+ "position": [
524
+ -0.09940856506000273,
525
+ -0.011391852545784786,
526
+ -0.026990463491529226
527
+ ],
528
+ "orientation": {
529
+ "w": 0.5145346034108715,
530
+ "xyz": [
531
+ -0.5346800577603199,
532
+ 0.464627721091868,
533
+ -0.4832105736831674
534
+ ]
535
+ }
536
+ },
537
+ "grasp_12": {
538
+ "confidence": 0.9914496541023254,
539
+ "position": [
540
+ 0.051187751843826845,
541
+ 0.08259799375082366,
542
+ -0.0003027894999831915
543
+ ],
544
+ "orientation": {
545
+ "w": 0.21370167811167842,
546
+ "xyz": [
547
+ -0.19116258073618975,
548
+ -0.6918025359169552,
549
+ 0.6627199346612433
550
+ ]
551
+ }
552
+ },
553
+ "grasp_13": {
554
+ "confidence": 0.9914025664329529,
555
+ "position": [
556
+ -0.07957038094173186,
557
+ -0.04354466081713326,
558
+ -0.073420952539891
559
+ ],
560
+ "orientation": {
561
+ "w": 0.7264770683608569,
562
+ "xyz": [
563
+ -0.43346098425770796,
564
+ 0.27401834925471724,
565
+ -0.45744572196477445
566
+ ]
567
+ }
568
+ },
569
+ "grasp_14": {
570
+ "confidence": 0.991363525390625,
571
+ "position": [
572
+ -0.09439645518432371,
573
+ -0.03114602857385762,
574
+ -0.02528963005170226
575
+ ],
576
+ "orientation": {
577
+ "w": 0.566380972618822,
578
+ "xyz": [
579
+ -0.57724961082857,
580
+ 0.41574377869636014,
581
+ -0.41611607891175445
582
+ ]
583
+ }
584
+ },
585
+ "grasp_15": {
586
+ "confidence": 0.9912365674972534,
587
+ "position": [
588
+ -0.08365580250392668,
589
+ -0.03961600692127831,
590
+ -0.06735736457630992
591
+ ],
592
+ "orientation": {
593
+ "w": 0.7066675937500377,
594
+ "xyz": [
595
+ -0.433978997869415,
596
+ 0.28675032393796485,
597
+ -0.47964298501412755
598
+ ]
599
+ }
600
+ },
601
+ "grasp_16": {
602
+ "confidence": 0.9911977648735046,
603
+ "position": [
604
+ -0.09360869039664976,
605
+ -0.0333831827447284,
606
+ -0.042607355397194624
607
+ ],
608
+ "orientation": {
609
+ "w": 0.4422169907059142,
610
+ "xyz": [
611
+ 0.3882820583848501,
612
+ 0.5331934893942043,
613
+ 0.6077712391476436
614
+ ]
615
+ }
616
+ },
617
+ "grasp_17": {
618
+ "confidence": 0.991096019744873,
619
+ "position": [
620
+ -0.09153202731977217,
621
+ -0.03513837934588082,
622
+ -0.03029102412983775
623
+ ],
624
+ "orientation": {
625
+ "w": 0.6042726207430901,
626
+ "xyz": [
627
+ -0.5547238449813255,
628
+ 0.38026871878775903,
629
+ -0.4272373545711188
630
+ ]
631
+ }
632
+ },
633
+ "grasp_18": {
634
+ "confidence": 0.9909796714782715,
635
+ "position": [
636
+ 0.06133815835346468,
637
+ 0.07698209627415054,
638
+ -0.009609608445316553
639
+ ],
640
+ "orientation": {
641
+ "w": 0.6696683002355565,
642
+ "xyz": [
643
+ 0.6668769889714251,
644
+ -0.23137028973403595,
645
+ -0.23084028735992893
646
+ ]
647
+ }
648
+ },
649
+ "grasp_19": {
650
+ "confidence": 0.9909787178039551,
651
+ "position": [
652
+ -0.08860191513667814,
653
+ -0.0273124925151933,
654
+ -0.05605370504781604
655
+ ],
656
+ "orientation": {
657
+ "w": 0.6578108569371912,
658
+ "xyz": [
659
+ -0.448884526648439,
660
+ 0.33607293288658635,
661
+ -0.5028345075789582
662
+ ]
663
+ }
664
+ }
665
+ }
666
+ },
667
+ {
668
+ "part_name": "base of glue stick",
669
+ "mask_color": "Pink",
670
+ "graspable": true,
671
+ "grasp_scenarios": [
672
+ {
673
+ "scenario": "grasp the lower base to lift the glue stick",
674
+ "confidence": 0.72
675
+ },
676
+ {
677
+ "scenario": "hold the base while orienting the stick upright",
678
+ "confidence": 0.68
679
+ },
680
+ {
681
+ "scenario": "stabilize the bottom during cap removal",
682
+ "confidence": 0.63
683
+ }
684
+ ],
685
+ "functional_labels": [
686
+ "support upright standing",
687
+ "close the bottom end",
688
+ "provide a lower gripping area",
689
+ "stabilize the container"
690
+ ],
691
+ "semantic_description": "A rounded blue plastic bottom section with a smooth slightly glossy hard surface, wider and more bulbous than the body, forming the closed base at the lower end.",
692
+ "id": 8,
693
+ "grasp_group": {}
694
+ },
695
+ {
696
+ "part_name": "printed logo text",
697
+ "mask_color": "Yellow",
698
+ "graspable": false,
699
+ "grasp_scenarios": [],
700
+ "functional_labels": [
701
+ "brand the product",
702
+ "identify the item visually",
703
+ "provide decorative graphics"
704
+ ],
705
+ "semantic_description": "Small bright printed letters on the body surface, flat and smooth as part of the label graphics, located on the upper side of the light-blue tube.",
706
+ "id": 3,
707
+ "grasp_group": {}
708
+ },
709
+ {
710
+ "part_name": "small printed accent graphic",
711
+ "mask_color": "Magenta",
712
+ "graspable": false,
713
+ "grasp_scenarios": [],
714
+ "functional_labels": [
715
+ "decorate the package",
716
+ "highlight branding graphics",
717
+ "aid visual identification"
718
+ ],
719
+ "semantic_description": "A tiny pink printed graphic element on the body, flat and smooth with a glossy ink-like appearance, positioned near the main logo artwork.",
720
+ "id": 7,
721
+ "grasp_group": {}
722
+ },
723
+ {
724
+ "part_name": "printed character graphic",
725
+ "mask_color": "Cyan",
726
+ "graspable": false,
727
+ "grasp_scenarios": [],
728
+ "functional_labels": [
729
+ "decorate the package",
730
+ "provide character branding",
731
+ "aid product recognition"
732
+ ],
733
+ "semantic_description": "A small cartoon bunny graphic printed on the tube, appearing white with dark outlines in the RGB image, flat and smooth on the light-blue body near the front side.",
734
+ "id": 6,
735
+ "grasp_group": {}
736
+ }
737
+ ],
738
+ "quality_check": {
739
+ "success": true,
740
+ "message": "YES"
741
+ }
742
+ }
dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:540e56f1aee7d713f9a096da0b7eaf5d65226bfddfac6e31e0c076a581e236fc
3
+ size 3791756
dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>