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
7f70f81
·
verified ·
1 Parent(s): 10e5b3e

Add asset desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/affordance_annot.json +1025 -0
  3. dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.urdf +1 -0
.gitattributes CHANGED
@@ -6506,3 +6506,4 @@ dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/affo
6506
  dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6507
  dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6508
  dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6506
  dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6507
  dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6508
  dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6509
+ dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1025 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to remove or replace it",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to hold and reposition the glue stick briefly during transport",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the glue",
19
+ "protect the adhesive tip",
20
+ "enable opening and closing",
21
+ "provide grip for uncapping"
22
+ ],
23
+ "semantic_description": "Short cylindrical very light pink to off-white plastic cap with a smooth semi-gloss rounded top and fine vertical ribs around the side, located at the top. The top face shows a pink flower graphic.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9550675749778748,
28
+ "position": [
29
+ -0.09672831266652793,
30
+ -0.029026793301454745,
31
+ 0.058305815036874264
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4113074129138819,
35
+ "xyz": [
36
+ 0.43439462204804064,
37
+ 0.6167976403734368,
38
+ 0.5115546845133863
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9550514817237854,
44
+ "position": [
45
+ -0.09717808931600302,
46
+ -0.03202160260116216,
47
+ 0.044993583287578076
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5651325682799183,
51
+ "xyz": [
52
+ -0.5814776765389359,
53
+ 0.43567718045632675,
54
+ -0.39076116284227796
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9546085000038147,
60
+ "position": [
61
+ -0.09665504365693778,
62
+ -0.029148884103051387,
63
+ 0.05408596637425944
64
+ ],
65
+ "orientation": {
66
+ "w": 0.559076783482812,
67
+ "xyz": [
68
+ -0.570700404482192,
69
+ 0.4451936653269778,
70
+ -0.40439683337917715
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9545524716377258,
76
+ "position": [
77
+ 0.017387169529683888,
78
+ 0.09014263564313296,
79
+ 0.09575463103828952
80
+ ],
81
+ "orientation": {
82
+ "w": 0.030140682028114374,
83
+ "xyz": [
84
+ -0.10747743496553988,
85
+ -0.8587673973287057,
86
+ 0.5000586941003923
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9537677764892578,
92
+ "position": [
93
+ -0.09520651667844504,
94
+ -0.03206441736256238,
95
+ 0.07315149920759723
96
+ ],
97
+ "orientation": {
98
+ "w": 0.4918634373539863,
99
+ "xyz": [
100
+ -0.639146835205854,
101
+ 0.48294997707093623,
102
+ -0.34105864845777484
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9532645344734192,
108
+ "position": [
109
+ -0.08270412951242179,
110
+ -0.027542963609448634,
111
+ 0.09666018205462024
112
+ ],
113
+ "orientation": {
114
+ "w": 0.4138127135437119,
115
+ "xyz": [
116
+ -0.6843078923743331,
117
+ 0.5279369959229687,
118
+ -0.2859445311238164
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.9512160420417786,
124
+ "position": [
125
+ 0.01440720830578357,
126
+ 0.0934551563259447,
127
+ 0.08853741752682254
128
+ ],
129
+ "orientation": {
130
+ "w": 0.020681173322587947,
131
+ "xyz": [
132
+ -0.09151030188267431,
133
+ -0.8484429135211695,
134
+ 0.5209057268019348
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9509865045547485,
140
+ "position": [
141
+ -0.09503794729243964,
142
+ -0.02271572126483079,
143
+ 0.060136433865409344
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5359078487662273,
147
+ "xyz": [
148
+ -0.5661724953311063,
149
+ 0.4724553620420887,
150
+ -0.41114159852656795
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9502032399177551,
156
+ "position": [
157
+ -0.021673901821486652,
158
+ -0.08420717155968305,
159
+ 0.09629295038757846
160
+ ],
161
+ "orientation": {
162
+ "w": 0.4850027037089219,
163
+ "xyz": [
164
+ -0.8638025983691882,
165
+ 0.12850838519532337,
166
+ -0.04585895092744236
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9500453472137451,
172
+ "position": [
173
+ -0.0077203590190038085,
174
+ -0.08529080635344144,
175
+ 0.09934640693245456
176
+ ],
177
+ "orientation": {
178
+ "w": 0.4778298349022399,
179
+ "xyz": [
180
+ -0.875946766124333,
181
+ 0.0648931544866071,
182
+ -0.013593759391663048
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.9499616622924805,
188
+ "position": [
189
+ -0.08424420177470893,
190
+ -0.021974889546982013,
191
+ 0.09631142782745883
192
+ ],
193
+ "orientation": {
194
+ "w": 0.4057749025691413,
195
+ "xyz": [
196
+ -0.678811079925028,
197
+ 0.5343704238718683,
198
+ -0.2983462691354144
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.9499155282974243,
204
+ "position": [
205
+ 0.03381125733722001,
206
+ 0.08638292366231326,
207
+ 0.08669363724766299
208
+ ],
209
+ "orientation": {
210
+ "w": 0.09353600380097528,
211
+ "xyz": [
212
+ -0.16070260845912618,
213
+ -0.8391421417811749,
214
+ 0.5111420091464601
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.949907124042511,
220
+ "position": [
221
+ -0.09467891126405448,
222
+ -0.0245188958797371,
223
+ 0.06407715397654101
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5309966145889824,
227
+ "xyz": [
228
+ -0.5735897665705384,
229
+ 0.47628072575041613,
230
+ -0.40273321847005816
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.9478298425674438,
236
+ "position": [
237
+ -0.10096492886077613,
238
+ 0.0015148696402320638,
239
+ 0.0429410898941569
240
+ ],
241
+ "orientation": {
242
+ "w": 0.48546564577195683,
243
+ "xyz": [
244
+ -0.4922241567538532,
245
+ 0.5252705440860925,
246
+ -0.49611424268879417
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.9474733471870422,
252
+ "position": [
253
+ -0.09263339906465262,
254
+ -0.03387174567615148,
255
+ 0.04503320547519252
256
+ ],
257
+ "orientation": {
258
+ "w": 0.4159186318524437,
259
+ "xyz": [
260
+ 0.40179056380691236,
261
+ 0.5947034062084475,
262
+ 0.5584835657007161
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.9470365047454834,
268
+ "position": [
269
+ 0.021293622558005154,
270
+ 0.09899693542683963,
271
+ 0.06677615660009906
272
+ ],
273
+ "orientation": {
274
+ "w": 0.060607883731173984,
275
+ "xyz": [
276
+ -0.09501152595349983,
277
+ -0.7631357541667881,
278
+ 0.6363358508507155
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9469465017318726,
284
+ "position": [
285
+ -0.09319234907161444,
286
+ -0.028789700925699435,
287
+ 0.046132397081237286
288
+ ],
289
+ "orientation": {
290
+ "w": 0.4297554478201721,
291
+ "xyz": [
292
+ 0.4231069581782723,
293
+ 0.5834792764789408,
294
+ 0.5439142312254978
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.946284294128418,
300
+ "position": [
301
+ -0.02244822576176375,
302
+ -0.08533851987158414,
303
+ 0.10160541551886126
304
+ ],
305
+ "orientation": {
306
+ "w": 0.05255143674327654,
307
+ "xyz": [
308
+ 0.12203137651671794,
309
+ 0.8729628505090178,
310
+ 0.46934268000345125
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.9461276531219482,
316
+ "position": [
317
+ 0.003758684848435223,
318
+ -0.10255328750645276,
319
+ 0.04274558665929362
320
+ ],
321
+ "orientation": {
322
+ "w": 0.6981677610540418,
323
+ "xyz": [
324
+ -0.7158007174699689,
325
+ 0.00046651004118913875,
326
+ 0.013816391086164746
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.945898711681366,
332
+ "position": [
333
+ 0.09367453039158136,
334
+ 0.041478401064523496,
335
+ 0.05063135566888377
336
+ ],
337
+ "orientation": {
338
+ "w": 0.36162016950785586,
339
+ "xyz": [
340
+ -0.40206196172601727,
341
+ -0.6009726396678041,
342
+ 0.5885651351455062
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "twist collar",
350
+ "mask_color": "Lime Green",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp and twist the collar to advance or retract the glue mechanism",
355
+ "confidence": 0.88
356
+ },
357
+ {
358
+ "scenario": "grasp the collar to stabilize the upper section while another gripper removes the cap",
359
+ "confidence": 0.63
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "twist to extend glue",
364
+ "twist to retract glue",
365
+ "provide rotational control",
366
+ "connect cap area to body"
367
+ ],
368
+ "semantic_description": "Narrow light cream to pale pink plastic ring below the cap with a ribbed texture and semi-gloss finish, encircling the upper body.",
369
+ "id": 9,
370
+ "grasp_group": {
371
+ "grasp_40": {
372
+ "confidence": 0.9650261998176575,
373
+ "position": [
374
+ -0.09451236843597144,
375
+ -0.028277298421016894,
376
+ 0.0303410945343785
377
+ ],
378
+ "orientation": {
379
+ "w": 0.5507832499181944,
380
+ "xyz": [
381
+ -0.573036803543918,
382
+ 0.43448794393538026,
383
+ -0.4236588957740978
384
+ ]
385
+ }
386
+ },
387
+ "grasp_41": {
388
+ "confidence": 0.964237630367279,
389
+ "position": [
390
+ -0.04130956425797194,
391
+ -0.09185233151947614,
392
+ 0.02816206048009917
393
+ ],
394
+ "orientation": {
395
+ "w": 0.6769349259319681,
396
+ "xyz": [
397
+ -0.7019767923113743,
398
+ 0.15843932723436194,
399
+ -0.1545466553997127
400
+ ]
401
+ }
402
+ },
403
+ "grasp_42": {
404
+ "confidence": 0.9635729789733887,
405
+ "position": [
406
+ -0.009759422275237739,
407
+ -0.10080936735903379,
408
+ 0.04100967216072604
409
+ ],
410
+ "orientation": {
411
+ "w": 0.6828876505421017,
412
+ "xyz": [
413
+ -0.7280787198684062,
414
+ 0.04908357034871569,
415
+ -0.03400937420320828
416
+ ]
417
+ }
418
+ },
419
+ "grasp_43": {
420
+ "confidence": 0.9633690118789673,
421
+ "position": [
422
+ -0.002016407554037869,
423
+ -0.10277278906141873,
424
+ 0.03198787587461993
425
+ ],
426
+ "orientation": {
427
+ "w": 0.697186426189986,
428
+ "xyz": [
429
+ -0.7166194489125653,
430
+ 0.014224600969857448,
431
+ -0.013612982918314804
432
+ ]
433
+ }
434
+ },
435
+ "grasp_44": {
436
+ "confidence": 0.9621812701225281,
437
+ "position": [
438
+ -0.005691191530786455,
439
+ -0.10278990304504987,
440
+ 0.030279640282969922
441
+ ],
442
+ "orientation": {
443
+ "w": 0.7010944748915086,
444
+ "xyz": [
445
+ -0.712426443145959,
446
+ 0.02453093079075297,
447
+ -0.01770123774025412
448
+ ]
449
+ }
450
+ },
451
+ "grasp_45": {
452
+ "confidence": 0.9604983329772949,
453
+ "position": [
454
+ -0.09434573620092124,
455
+ -0.021608594790450297,
456
+ 0.046759147371631116
457
+ ],
458
+ "orientation": {
459
+ "w": 0.5016748752037418,
460
+ "xyz": [
461
+ -0.5940066007375226,
462
+ 0.48785464596567185,
463
+ -0.39683286441431814
464
+ ]
465
+ }
466
+ },
467
+ "grasp_46": {
468
+ "confidence": 0.9601746201515198,
469
+ "position": [
470
+ -0.016326726297847927,
471
+ -0.09727548247610684,
472
+ 0.03130605834303424
473
+ ],
474
+ "orientation": {
475
+ "w": 0.6930004219021636,
476
+ "xyz": [
477
+ -0.7158551179071326,
478
+ 0.05209750399099078,
479
+ -0.06773267665977314
480
+ ]
481
+ }
482
+ },
483
+ "grasp_47": {
484
+ "confidence": 0.9601565003395081,
485
+ "position": [
486
+ -0.09822250425349921,
487
+ -0.0214382018748438,
488
+ 0.0374409073847346
489
+ ],
490
+ "orientation": {
491
+ "w": 0.5445758134456944,
492
+ "xyz": [
493
+ -0.5491340861115851,
494
+ 0.45875597372439636,
495
+ -0.4375293081069373
496
+ ]
497
+ }
498
+ },
499
+ "grasp_48": {
500
+ "confidence": 0.959251880645752,
501
+ "position": [
502
+ 0.10293680906761438,
503
+ -0.0026427740085637197,
504
+ 0.03054710681317374
505
+ ],
506
+ "orientation": {
507
+ "w": 0.47515511016337714,
508
+ "xyz": [
509
+ 0.5118344645386191,
510
+ -0.49399927870011284,
511
+ -0.5178974945294319
512
+ ]
513
+ }
514
+ },
515
+ "grasp_49": {
516
+ "confidence": 0.9585438370704651,
517
+ "position": [
518
+ -0.0984453436685726,
519
+ -0.024113226667395793,
520
+ 0.025061885069590062
521
+ ],
522
+ "orientation": {
523
+ "w": 0.5417247376363493,
524
+ "xyz": [
525
+ -0.5601689954062158,
526
+ 0.4467727690632035,
527
+ -0.43947593568023363
528
+ ]
529
+ }
530
+ },
531
+ "grasp_50": {
532
+ "confidence": 0.9583762884140015,
533
+ "position": [
534
+ -0.012278534355573356,
535
+ -0.10500630921160337,
536
+ 0.021505685697775334
537
+ ],
538
+ "orientation": {
539
+ "w": 0.06099199034710288,
540
+ "xyz": [
541
+ 0.04942140381600947,
542
+ 0.6989210433091438,
543
+ 0.7108775402121039
544
+ ]
545
+ }
546
+ },
547
+ "grasp_51": {
548
+ "confidence": 0.9578897953033447,
549
+ "position": [
550
+ -0.08955318748485297,
551
+ -0.03913050329720136,
552
+ 0.024237901146989316
553
+ ],
554
+ "orientation": {
555
+ "w": 0.5865106487545911,
556
+ "xyz": [
557
+ -0.5964140474117542,
558
+ 0.3923994603580345,
559
+ -0.3825156290377195
560
+ ]
561
+ }
562
+ },
563
+ "grasp_52": {
564
+ "confidence": 0.9556816220283508,
565
+ "position": [
566
+ 0.09211623400915414,
567
+ 0.044979980229982175,
568
+ 0.028857361699920148
569
+ ],
570
+ "orientation": {
571
+ "w": 0.590777560406049,
572
+ "xyz": [
573
+ 0.6123435979726695,
574
+ -0.36141990028430937,
575
+ -0.3813041408390981
576
+ ]
577
+ }
578
+ },
579
+ "grasp_53": {
580
+ "confidence": 0.9554928541183472,
581
+ "position": [
582
+ -0.0872947972966358,
583
+ -0.04788693225418683,
584
+ 0.030124169017653912
585
+ ],
586
+ "orientation": {
587
+ "w": 0.5972954173200303,
588
+ "xyz": [
589
+ -0.6062426690340498,
590
+ 0.38433247727244435,
591
+ -0.3577660654737795
592
+ ]
593
+ }
594
+ },
595
+ "grasp_54": {
596
+ "confidence": 0.9551382660865784,
597
+ "position": [
598
+ 0.09678193659055978,
599
+ 0.03243116849625949,
600
+ 0.02586725930450484
601
+ ],
602
+ "orientation": {
603
+ "w": 0.407247726940052,
604
+ "xyz": [
605
+ -0.41318895343903606,
606
+ -0.582611505544287,
607
+ 0.5691994477031184
608
+ ]
609
+ }
610
+ },
611
+ "grasp_55": {
612
+ "confidence": 0.9543735980987549,
613
+ "position": [
614
+ 0.10366042435634881,
615
+ -0.00039888139872346073,
616
+ 0.03612164797959849
617
+ ],
618
+ "orientation": {
619
+ "w": 0.4866146411718638,
620
+ "xyz": [
621
+ -0.5164414652235432,
622
+ -0.500149726552356,
623
+ 0.4963311948936325
624
+ ]
625
+ }
626
+ },
627
+ "grasp_56": {
628
+ "confidence": 0.9541523456573486,
629
+ "position": [
630
+ -0.010331774014048278,
631
+ -0.09619622862373944,
632
+ 0.05077070015249774
633
+ ],
634
+ "orientation": {
635
+ "w": 0.6317484896414284,
636
+ "xyz": [
637
+ -0.7724998679381071,
638
+ 0.045841373454060697,
639
+ -0.04512613822638216
640
+ ]
641
+ }
642
+ },
643
+ "grasp_57": {
644
+ "confidence": 0.9540249705314636,
645
+ "position": [
646
+ -0.03367016732227057,
647
+ -0.08881699478661176,
648
+ 0.06890314089832827
649
+ ],
650
+ "orientation": {
651
+ "w": 0.5339625858831688,
652
+ "xyz": [
653
+ -0.8209430592022869,
654
+ 0.1778985135483223,
655
+ -0.09637722397873454
656
+ ]
657
+ }
658
+ },
659
+ "grasp_58": {
660
+ "confidence": 0.954017698764801,
661
+ "position": [
662
+ 0.0954660075949505,
663
+ 0.02777289786899928,
664
+ 0.026429047982674092
665
+ ],
666
+ "orientation": {
667
+ "w": 0.4231102052149559,
668
+ "xyz": [
669
+ -0.42943173873386176,
670
+ -0.5785256159891944,
671
+ 0.5494308397380818
672
+ ]
673
+ }
674
+ },
675
+ "grasp_59": {
676
+ "confidence": 0.9537853598594666,
677
+ "position": [
678
+ 0.010004620184190571,
679
+ -0.10236830449139234,
680
+ 0.030743323441129178
681
+ ],
682
+ "orientation": {
683
+ "w": 0.6996912354270602,
684
+ "xyz": [
685
+ -0.713301537107265,
686
+ -0.030540187064116764,
687
+ 0.02646486729715716
688
+ ]
689
+ }
690
+ }
691
+ }
692
+ },
693
+ {
694
+ "part_name": "body",
695
+ "mask_color": "Blue",
696
+ "graspable": true,
697
+ "grasp_scenarios": [
698
+ {
699
+ "scenario": "grasp the main body to pick up and hold the glue stick",
700
+ "confidence": 0.96
701
+ },
702
+ {
703
+ "scenario": "grasp the body to stabilize it while twisting the collar or removing the cap",
704
+ "confidence": 0.91
705
+ }
706
+ ],
707
+ "functional_labels": [
708
+ "main grasp surface",
709
+ "contain the glue mechanism",
710
+ "support handling during application",
711
+ "provide structural housing"
712
+ ],
713
+ "semantic_description": "Tall cylindrical pale pink plastic body with a smooth semi-gloss surface, slightly tapered sides, and printed pink blossom graphics plus white brand text on the sides.",
714
+ "id": 2,
715
+ "grasp_group": {
716
+ "grasp_20": {
717
+ "confidence": 0.9855292439460754,
718
+ "position": [
719
+ -0.07825879275333136,
720
+ -0.06398173606430646,
721
+ 0.009677313442807645
722
+ ],
723
+ "orientation": {
724
+ "w": 0.5782199450871398,
725
+ "xyz": [
726
+ -0.6842140761313479,
727
+ 0.3362807090994776,
728
+ -0.290565100820287
729
+ ]
730
+ }
731
+ },
732
+ "grasp_21": {
733
+ "confidence": 0.9851626753807068,
734
+ "position": [
735
+ -0.08436182409059256,
736
+ -0.05486422589456197,
737
+ -0.026340337295550853
738
+ ],
739
+ "orientation": {
740
+ "w": 0.6319686634589187,
741
+ "xyz": [
742
+ -0.5951866186589987,
743
+ 0.3314723691459115,
744
+ -0.36945170979170217
745
+ ]
746
+ }
747
+ },
748
+ "grasp_22": {
749
+ "confidence": 0.9847411513328552,
750
+ "position": [
751
+ -0.09772031276952475,
752
+ -0.01812815478479024,
753
+ -0.011119741771835834
754
+ ],
755
+ "orientation": {
756
+ "w": 0.5325623207710052,
757
+ "xyz": [
758
+ -0.5482062768630128,
759
+ 0.44973533668497023,
760
+ -0.4621529827230925
761
+ ]
762
+ }
763
+ },
764
+ "grasp_23": {
765
+ "confidence": 0.9844404458999634,
766
+ "position": [
767
+ -0.09888585924636573,
768
+ -0.03206672331725713,
769
+ -0.021742954675573856
770
+ ],
771
+ "orientation": {
772
+ "w": 0.5611600700579484,
773
+ "xyz": [
774
+ -0.5735942791138108,
775
+ 0.41647990542975954,
776
+ -0.4273563701569037
777
+ ]
778
+ }
779
+ },
780
+ "grasp_24": {
781
+ "confidence": 0.9828705191612244,
782
+ "position": [
783
+ -0.07891262590419501,
784
+ -0.06102847865258809,
785
+ -0.019458398048300296
786
+ ],
787
+ "orientation": {
788
+ "w": 0.6143519314075909,
789
+ "xyz": [
790
+ -0.6468361137994159,
791
+ 0.3171380424860203,
792
+ -0.32186675545754595
793
+ ]
794
+ }
795
+ },
796
+ "grasp_25": {
797
+ "confidence": 0.9821833372116089,
798
+ "position": [
799
+ -0.07913000404369086,
800
+ -0.034753488362184726,
801
+ -0.09470266086282209
802
+ ],
803
+ "orientation": {
804
+ "w": 0.7117380255492188,
805
+ "xyz": [
806
+ -0.4187924526610117,
807
+ 0.26160126780939696,
808
+ -0.49960648640904404
809
+ ]
810
+ }
811
+ },
812
+ "grasp_26": {
813
+ "confidence": 0.9819104075431824,
814
+ "position": [
815
+ 0.09544657648075372,
816
+ 0.030718529611476697,
817
+ -0.018414938647765666
818
+ ],
819
+ "orientation": {
820
+ "w": 0.5696242979752187,
821
+ "xyz": [
822
+ 0.5764441126815264,
823
+ -0.4245658567297369,
824
+ -0.4037129889047303
825
+ ]
826
+ }
827
+ },
828
+ "grasp_27": {
829
+ "confidence": 0.9817054271697998,
830
+ "position": [
831
+ -0.09718737273942679,
832
+ -0.025759497642866336,
833
+ -0.05227348563494161
834
+ ],
835
+ "orientation": {
836
+ "w": 0.5984549285368821,
837
+ "xyz": [
838
+ -0.5091603399537097,
839
+ 0.3777120691244249,
840
+ -0.48983776861924777
841
+ ]
842
+ }
843
+ },
844
+ "grasp_29": {
845
+ "confidence": 0.9814556241035461,
846
+ "position": [
847
+ -0.09272680699359626,
848
+ -0.03407402521406766,
849
+ -0.025024367321748286
850
+ ],
851
+ "orientation": {
852
+ "w": 0.6112162592744292,
853
+ "xyz": [
854
+ -0.5421268718964111,
855
+ 0.3621657378322928,
856
+ -0.44871941957840117
857
+ ]
858
+ }
859
+ },
860
+ "grasp_30": {
861
+ "confidence": 0.981336772441864,
862
+ "position": [
863
+ -0.07537653564941138,
864
+ -0.03306190481816884,
865
+ -0.10434804839314893
866
+ ],
867
+ "orientation": {
868
+ "w": 0.47468386625964804,
869
+ "xyz": [
870
+ 0.25939608357257393,
871
+ 0.365658474518042,
872
+ 0.7574184965744767
873
+ ]
874
+ }
875
+ },
876
+ "grasp_31": {
877
+ "confidence": 0.9812788963317871,
878
+ "position": [
879
+ -0.08233819424640387,
880
+ -0.039161389679065906,
881
+ -0.08648194355191663
882
+ ],
883
+ "orientation": {
884
+ "w": 0.7130198578954349,
885
+ "xyz": [
886
+ -0.4313676351233814,
887
+ 0.26927659242378466,
888
+ -0.4827160266528038
889
+ ]
890
+ }
891
+ },
892
+ "grasp_33": {
893
+ "confidence": 0.9810303449630737,
894
+ "position": [
895
+ -0.08236212551128119,
896
+ -0.04350558853184339,
897
+ -0.07684771699132398
898
+ ],
899
+ "orientation": {
900
+ "w": 0.7157805790439111,
901
+ "xyz": [
902
+ -0.4462601816603372,
903
+ 0.2626067114432258,
904
+ -0.4685592044053994
905
+ ]
906
+ }
907
+ },
908
+ "grasp_34": {
909
+ "confidence": 0.9809576272964478,
910
+ "position": [
911
+ -0.09738520055543631,
912
+ 0.022956382497795857,
913
+ -0.022855000395793468
914
+ ],
915
+ "orientation": {
916
+ "w": 0.56116165161965,
917
+ "xyz": [
918
+ 0.5581053685699234,
919
+ 0.4213516701113008,
920
+ 0.44280782334930996
921
+ ]
922
+ }
923
+ },
924
+ "grasp_35": {
925
+ "confidence": 0.9807836413383484,
926
+ "position": [
927
+ -0.10191693424712867,
928
+ -0.009814298697165214,
929
+ -0.023660966951865703
930
+ ],
931
+ "orientation": {
932
+ "w": 0.46770184967967676,
933
+ "xyz": [
934
+ 0.4880714297511742,
935
+ 0.515092047761742,
936
+ 0.5269928287932096
937
+ ]
938
+ }
939
+ },
940
+ "grasp_36": {
941
+ "confidence": 0.9806679487228394,
942
+ "position": [
943
+ -0.08069945394527167,
944
+ -0.06663192248379346,
945
+ -0.013659193005878478
946
+ ],
947
+ "orientation": {
948
+ "w": 0.2832255634594257,
949
+ "xyz": [
950
+ 0.32638952520256537,
951
+ 0.6472701818725992,
952
+ 0.6279287138678622
953
+ ]
954
+ }
955
+ },
956
+ "grasp_37": {
957
+ "confidence": 0.9804857969284058,
958
+ "position": [
959
+ -0.09668883203994483,
960
+ 0.01623819397354964,
961
+ -0.014534201298374683
962
+ ],
963
+ "orientation": {
964
+ "w": 0.4468372434365877,
965
+ "xyz": [
966
+ -0.4655190250494753,
967
+ 0.5397757422679472,
968
+ -0.540620627847351
969
+ ]
970
+ }
971
+ },
972
+ "grasp_38": {
973
+ "confidence": 0.9802455306053162,
974
+ "position": [
975
+ -0.10248080908786505,
976
+ -0.012724627726129256,
977
+ -0.03090427425922826
978
+ ],
979
+ "orientation": {
980
+ "w": 0.5359396876790327,
981
+ "xyz": [
982
+ -0.5135980891346809,
983
+ 0.44565773029761646,
984
+ -0.5003747010328184
985
+ ]
986
+ }
987
+ },
988
+ "grasp_39": {
989
+ "confidence": 0.9801544547080994,
990
+ "position": [
991
+ 0.04596241295803338,
992
+ 0.08430310898984317,
993
+ -0.06451019627274945
994
+ ],
995
+ "orientation": {
996
+ "w": 0.21400758979500728,
997
+ "xyz": [
998
+ -0.12471295798701594,
999
+ -0.5613747517969709,
1000
+ 0.7896238456791627
1001
+ ]
1002
+ }
1003
+ }
1004
+ }
1005
+ },
1006
+ {
1007
+ "part_name": "printed graphics and text",
1008
+ "mask_color": "Magenta",
1009
+ "graspable": false,
1010
+ "grasp_scenarios": [],
1011
+ "functional_labels": [
1012
+ "decorate the product",
1013
+ "provide branding",
1014
+ "provide visual identification"
1015
+ ],
1016
+ "semantic_description": "Flat printed blossom motifs and white lettering applied on the pale pink body surface, visible as decorative and branding graphics rather than a separate structural component.",
1017
+ "id": 7,
1018
+ "grasp_group": {}
1019
+ }
1020
+ ],
1021
+ "quality_check": {
1022
+ "success": true,
1023
+ "message": "YES"
1024
+ }
1025
+ }
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e525f11ff9e1ae510c4346ace728eb217595c2f582212cb2563a77ef80229d71
3
+ size 3782548
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.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>