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
820f700
·
verified ·
1 Parent(s): ef1b4d8

Add asset desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/affordance_annot.json +842 -0
  3. dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6369,4 +6369,4 @@ dataset/desktop_supplies/office_stationery/71e039ac144f596cad63e16bfc2311b6/affo
6369
  dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6370
  dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6371
  dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6372
- dataset/desktop_supplies/office_stationery/73a31a3a0fd65c918335e88f66c630f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
6369
  dataset/desktop_supplies/office_stationery/726c96f4e302588ca04749168971f40b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6370
  dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6371
  dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6372
+ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/affordance_annot.json ADDED
@@ -0,0 +1,842 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "marker cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to uncap the marker",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp the capped end to pick up and reorient the marker",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "hold the cap to recap the marker onto the tip",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the writing tip",
23
+ "protect the ink tip from drying",
24
+ "provide a pull point for uncapping",
25
+ "seal the marker when stored"
26
+ ],
27
+ "semantic_description": "A small purple plastic cap with a matte to semi-gloss finish, hard smooth feel, and ribbed cylindrical shape covering one end of the marker.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9754145741462708,
32
+ "position": [
33
+ -0.03763098349736538,
34
+ 0.08685736719053239,
35
+ 0.07598042923928006
36
+ ],
37
+ "orientation": {
38
+ "w": 0.25260594913099577,
39
+ "xyz": [
40
+ 0.939871062538825,
41
+ -0.05836497814993824,
42
+ 0.22231992621293717
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9714114665985107,
48
+ "position": [
49
+ -0.027817270587547682,
50
+ 0.09336401883047074,
51
+ -0.07712181221722858
52
+ ],
53
+ "orientation": {
54
+ "w": 0.942848053598483,
55
+ "xyz": [
56
+ 0.28164708503697383,
57
+ 0.17306314263012812,
58
+ -0.04197160919849155
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9635705351829529,
64
+ "position": [
65
+ 0.08137556085421238,
66
+ 0.08228291932027787,
67
+ -0.012020537928037811
68
+ ],
69
+ "orientation": {
70
+ "w": 0.727345694195698,
71
+ "xyz": [
72
+ 0.2166891893789778,
73
+ -0.625963761043065,
74
+ 0.17939734168064095
75
+ ]
76
+ }
77
+ },
78
+ "grasp_4": {
79
+ "confidence": 0.9591412544250488,
80
+ "position": [
81
+ -0.025584545786841772,
82
+ 0.12408598128240556,
83
+ 0.04616775054455502
84
+ ],
85
+ "orientation": {
86
+ "w": 0.18878830931154875,
87
+ "xyz": [
88
+ 0.07097499383315906,
89
+ 0.847596653389054,
90
+ -0.4908171122539895
91
+ ]
92
+ }
93
+ },
94
+ "grasp_5": {
95
+ "confidence": 0.9572592377662659,
96
+ "position": [
97
+ -0.024343413169845007,
98
+ 0.12650737527292222,
99
+ 0.045695659406192135
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1791575519496765,
103
+ "xyz": [
104
+ 0.0712120964931639,
105
+ 0.8511302820118359,
106
+ -0.4882710844755196
107
+ ]
108
+ }
109
+ },
110
+ "grasp_6": {
111
+ "confidence": 0.9558712840080261,
112
+ "position": [
113
+ -0.019718871320947073,
114
+ 0.1300726569024846,
115
+ -0.04641516443371074
116
+ ],
117
+ "orientation": {
118
+ "w": 0.051959075168925076,
119
+ "xyz": [
120
+ 0.13202123460676224,
121
+ -0.49770288937140783,
122
+ 0.8556649356096396
123
+ ]
124
+ }
125
+ },
126
+ "grasp_7": {
127
+ "confidence": 0.9549779295921326,
128
+ "position": [
129
+ -0.013069350141449831,
130
+ 0.12676763895433396,
131
+ 0.04411521617294056
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5150084676997837,
135
+ "xyz": [
136
+ 0.8463710300286533,
137
+ -0.06479756018188076,
138
+ 0.11926287737696287
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.9518600106239319,
144
+ "position": [
145
+ -0.014431167262955569,
146
+ 0.12449750665109605,
147
+ -0.04421593558072345
148
+ ],
149
+ "orientation": {
150
+ "w": 0.04005666922234441,
151
+ "xyz": [
152
+ 0.10696533993570323,
153
+ -0.5151316048788408,
154
+ 0.8494664848940189
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.9497900009155273,
160
+ "position": [
161
+ 0.02857170360221062,
162
+ 0.12759618822019547,
163
+ 0.03669796947360737
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4857720926411655,
167
+ "xyz": [
168
+ 0.8221160395268826,
169
+ 0.13155295847643644,
170
+ -0.26616632146038477
171
+ ]
172
+ }
173
+ },
174
+ "grasp_11": {
175
+ "confidence": 0.946014940738678,
176
+ "position": [
177
+ -0.01685144087241497,
178
+ 0.11944771918933839,
179
+ 0.04823105845571263
180
+ ],
181
+ "orientation": {
182
+ "w": 0.13302528364817512,
183
+ "xyz": [
184
+ 0.053593229439811665,
185
+ 0.8562849164491977,
186
+ -0.49619369356141985
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.9457956552505493,
192
+ "position": [
193
+ -0.030025700907572173,
194
+ 0.12257156136911362,
195
+ 0.03548642311216099
196
+ ],
197
+ "orientation": {
198
+ "w": 0.23142528684597097,
199
+ "xyz": [
200
+ 0.07738549884394798,
201
+ 0.8271979127527629,
202
+ -0.5061594949365327
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.9452699422836304,
208
+ "position": [
209
+ 0.022564913277165033,
210
+ 0.12629810336511582,
211
+ 0.0447443655502866
212
+ ],
213
+ "orientation": {
214
+ "w": 0.20836090973920518,
215
+ "xyz": [
216
+ 0.10404878195840053,
217
+ -0.8419907053609625,
218
+ 0.486632545511881
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.943558931350708,
224
+ "position": [
225
+ -0.02127520633803215,
226
+ 0.11667399469297379,
227
+ 0.044246875382668804
228
+ ],
229
+ "orientation": {
230
+ "w": 0.1725883616434452,
231
+ "xyz": [
232
+ 0.0769647129180109,
233
+ 0.8465844574037703,
234
+ -0.4975785836157373
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.9393835663795471,
240
+ "position": [
241
+ 0.018178758342401125,
242
+ 0.1288732475368306,
243
+ -0.0433908806371619
244
+ ],
245
+ "orientation": {
246
+ "w": 0.05004943912069809,
247
+ "xyz": [
248
+ 0.11948366196157298,
249
+ 0.508652863916915,
250
+ -0.8511703543927481
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9389517307281494,
256
+ "position": [
257
+ -0.010533169712289236,
258
+ 0.12339841935317963,
259
+ 0.05015513736725552
260
+ ],
261
+ "orientation": {
262
+ "w": 0.07658730683659587,
263
+ "xyz": [
264
+ 0.03541838892179029,
265
+ 0.8619683310083296,
266
+ -0.49989050650759265
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9389083385467529,
272
+ "position": [
273
+ -0.01863998999760952,
274
+ 0.12319787207525223,
275
+ -0.04667925026296871
276
+ ],
277
+ "orientation": {
278
+ "w": 0.8476605425780458,
279
+ "xyz": [
280
+ 0.49906816765399276,
281
+ 0.1685640943512572,
282
+ -0.06315627194760351
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ },
288
+ {
289
+ "part_name": "marker barrel",
290
+ "mask_color": "Green",
291
+ "graspable": true,
292
+ "grasp_scenarios": [
293
+ {
294
+ "scenario": "grasp the barrel to pick up the marker",
295
+ "confidence": 0.97
296
+ },
297
+ {
298
+ "scenario": "hold the barrel for writing or positioning the marker",
299
+ "confidence": 0.95
300
+ },
301
+ {
302
+ "scenario": "stabilize the marker by clamping the barrel during uncapping",
303
+ "confidence": 0.89
304
+ }
305
+ ],
306
+ "functional_labels": [
307
+ "main grasp surface",
308
+ "contain ink reservoir",
309
+ "support writing control",
310
+ "connect cap and tip assembly"
311
+ ],
312
+ "semantic_description": "The largest central body is a purple plastic cylinder with a matte finish, hard smooth surface, printed white branding, and a straight elongated shape forming the main handle.",
313
+ "id": 1,
314
+ "grasp_group": {
315
+ "grasp_20": {
316
+ "confidence": 0.9847902655601501,
317
+ "position": [
318
+ 0.08110318997933064,
319
+ 0.04394489142578095,
320
+ 0.021652309857017826
321
+ ],
322
+ "orientation": {
323
+ "w": 0.5831225203900714,
324
+ "xyz": [
325
+ 0.1609297283695928,
326
+ -0.7674488910914354,
327
+ 0.21234864799038772
328
+ ]
329
+ }
330
+ },
331
+ "grasp_21": {
332
+ "confidence": 0.9841805696487427,
333
+ "position": [
334
+ 0.07751538524462376,
335
+ 0.05486633616965264,
336
+ 0.03326474565983517
337
+ ],
338
+ "orientation": {
339
+ "w": 0.20375588930612057,
340
+ "xyz": [
341
+ 0.7993265016243607,
342
+ 0.16612867063925785,
343
+ -0.5403350314070574
344
+ ]
345
+ }
346
+ },
347
+ "grasp_22": {
348
+ "confidence": 0.9839352369308472,
349
+ "position": [
350
+ 0.04416812503768597,
351
+ -0.060644012060947716,
352
+ 0.07295050907850964
353
+ ],
354
+ "orientation": {
355
+ "w": 0.2655099009010939,
356
+ "xyz": [
357
+ -0.05958049554745331,
358
+ -0.9302565531022433,
359
+ -0.24612477015559492
360
+ ]
361
+ }
362
+ },
363
+ "grasp_24": {
364
+ "confidence": 0.9793633818626404,
365
+ "position": [
366
+ 0.08055950621201191,
367
+ -0.05892770749051124,
368
+ 0.01250976573646767
369
+ ],
370
+ "orientation": {
371
+ "w": 0.2181639820731653,
372
+ "xyz": [
373
+ -0.7417451301902109,
374
+ 0.18853998781434678,
375
+ 0.6055339063669786
376
+ ]
377
+ }
378
+ },
379
+ "grasp_25": {
380
+ "confidence": 0.9770529270172119,
381
+ "position": [
382
+ 0.08216230491234455,
383
+ -0.06635985907632858,
384
+ 0.00900610785902245
385
+ ],
386
+ "orientation": {
387
+ "w": 0.6383462701542522,
388
+ "xyz": [
389
+ -0.16488948759484864,
390
+ -0.717108416153139,
391
+ -0.22601109650457227
392
+ ]
393
+ }
394
+ },
395
+ "grasp_26": {
396
+ "confidence": 0.9759952425956726,
397
+ "position": [
398
+ 0.08182173887325916,
399
+ -0.06965142872650176,
400
+ 0.0060172869634698145
401
+ ],
402
+ "orientation": {
403
+ "w": 0.21146204892375708,
404
+ "xyz": [
405
+ -0.7184153110975148,
406
+ 0.1874227150136264,
407
+ 0.6356382371621052
408
+ ]
409
+ }
410
+ },
411
+ "grasp_27": {
412
+ "confidence": 0.9739660620689392,
413
+ "position": [
414
+ -0.08183340063260403,
415
+ 0.047520018997602165,
416
+ -0.00026651990629034117
417
+ ],
418
+ "orientation": {
419
+ "w": 0.677381436138157,
420
+ "xyz": [
421
+ 0.2172358418172262,
422
+ 0.6776789000060401,
423
+ -0.18631770579301507
424
+ ]
425
+ }
426
+ },
427
+ "grasp_28": {
428
+ "confidence": 0.9702932238578796,
429
+ "position": [
430
+ 0.06765966782404575,
431
+ -0.0804688521893695,
432
+ 0.04619146201730473
433
+ ],
434
+ "orientation": {
435
+ "w": 0.45670709162746637,
436
+ "xyz": [
437
+ -0.13483477607682512,
438
+ -0.8428262574086293,
439
+ -0.25076306633963685
440
+ ]
441
+ }
442
+ },
443
+ "grasp_29": {
444
+ "confidence": 0.9649838209152222,
445
+ "position": [
446
+ -0.014314521904452704,
447
+ 0.06171948823612183,
448
+ 0.0814962579679559
449
+ ],
450
+ "orientation": {
451
+ "w": 0.07873931043921029,
452
+ "xyz": [
453
+ 0.03587413782827745,
454
+ 0.9571915530287833,
455
+ -0.2762200174443949
456
+ ]
457
+ }
458
+ },
459
+ "grasp_30": {
460
+ "confidence": 0.9539777636528015,
461
+ "position": [
462
+ 0.07254223445488606,
463
+ -0.08921057370025665,
464
+ 0.01168459251493914
465
+ ],
466
+ "orientation": {
467
+ "w": 0.601361562274078,
468
+ "xyz": [
469
+ -0.20909333991788898,
470
+ -0.7178007485527302,
471
+ -0.2817912915588452
472
+ ]
473
+ }
474
+ },
475
+ "grasp_31": {
476
+ "confidence": 0.9466193914413452,
477
+ "position": [
478
+ -0.021879806052311324,
479
+ 0.074786905082874,
480
+ 0.07155950803280575
481
+ ],
482
+ "orientation": {
483
+ "w": 0.3397283285067085,
484
+ "xyz": [
485
+ 0.9285369607243203,
486
+ -0.04473826421550697,
487
+ 0.1428364907643118
488
+ ]
489
+ }
490
+ },
491
+ "grasp_32": {
492
+ "confidence": 0.9427493214607239,
493
+ "position": [
494
+ -0.0762441389815649,
495
+ 0.019702179240994155,
496
+ 0.03089093852759106
497
+ ],
498
+ "orientation": {
499
+ "w": 0.5472953778263497,
500
+ "xyz": [
501
+ 0.16259718151522698,
502
+ 0.7882244058415878,
503
+ -0.22963495380471524
504
+ ]
505
+ }
506
+ },
507
+ "grasp_33": {
508
+ "confidence": 0.580190122127533,
509
+ "position": [
510
+ -0.01971050245629158,
511
+ 0.0803255921928212,
512
+ -0.06640846591471927
513
+ ],
514
+ "orientation": {
515
+ "w": 0.9120551155198287,
516
+ "xyz": [
517
+ 0.38454137744705397,
518
+ 0.13740317465182006,
519
+ -0.03746682373562669
520
+ ]
521
+ }
522
+ },
523
+ "grasp_34": {
524
+ "confidence": 0.5351270437240601,
525
+ "position": [
526
+ 0.0031401474407175556,
527
+ -0.11558860924560577,
528
+ 0.047374852634675335
529
+ ],
530
+ "orientation": {
531
+ "w": 0.5087143469278653,
532
+ "xyz": [
533
+ -0.8605237403691173,
534
+ 0.01075300791986189,
535
+ 0.024351146001260263
536
+ ]
537
+ }
538
+ },
539
+ "grasp_35": {
540
+ "confidence": 0.44714468717575073,
541
+ "position": [
542
+ 0.001579315066919662,
543
+ -0.09189060714561492,
544
+ 0.059985444582707714
545
+ ],
546
+ "orientation": {
547
+ "w": 0.4349152829049904,
548
+ "xyz": [
549
+ -0.9004262004702188,
550
+ 0.002384482688761125,
551
+ -0.008698761104013207
552
+ ]
553
+ }
554
+ },
555
+ "grasp_36": {
556
+ "confidence": 0.37233832478523254,
557
+ "position": [
558
+ 0.04644199008180294,
559
+ -0.11176226672250777,
560
+ 0.013269899114675354
561
+ ],
562
+ "orientation": {
563
+ "w": 0.4045524689819971,
564
+ "xyz": [
565
+ -0.7016043101350596,
566
+ 0.29390439934632673,
567
+ 0.5076503677585124
568
+ ]
569
+ }
570
+ },
571
+ "grasp_37": {
572
+ "confidence": 0.19901569187641144,
573
+ "position": [
574
+ -0.05197753837273922,
575
+ -0.09113651898223907,
576
+ 0.015595619268424343
577
+ ],
578
+ "orientation": {
579
+ "w": 0.5468794648552676,
580
+ "xyz": [
581
+ -0.2897348074337175,
582
+ 0.6893406348543538,
583
+ 0.3765449261636109
584
+ ]
585
+ }
586
+ },
587
+ "grasp_38": {
588
+ "confidence": 0.194968581199646,
589
+ "position": [
590
+ -0.05152430465386715,
591
+ -0.08349794533569366,
592
+ 0.014969514384574722
593
+ ],
594
+ "orientation": {
595
+ "w": 0.5576189997609146,
596
+ "xyz": [
597
+ -0.31700288829240514,
598
+ 0.672492394355367,
599
+ 0.3692210712487776
600
+ ]
601
+ }
602
+ },
603
+ "grasp_39": {
604
+ "confidence": 0.19174478948116302,
605
+ "position": [
606
+ -0.05403306787775364,
607
+ -0.10919060197193176,
608
+ 0.009287927001423668
609
+ ],
610
+ "orientation": {
611
+ "w": 0.3734038752993858,
612
+ "xyz": [
613
+ -0.6794002665739283,
614
+ -0.2978525081791795,
615
+ -0.5570176900799899
616
+ ]
617
+ }
618
+ }
619
+ }
620
+ },
621
+ {
622
+ "part_name": "tip holder",
623
+ "mask_color": "Yellow",
624
+ "graspable": true,
625
+ "grasp_scenarios": [
626
+ {
627
+ "scenario": "delicately grasp near the tip holder to orient the writing end",
628
+ "confidence": 0.42
629
+ },
630
+ {
631
+ "scenario": "hold the front section to stabilize the marker during precise placement",
632
+ "confidence": 0.38
633
+ }
634
+ ],
635
+ "functional_labels": [
636
+ "support the writing tip",
637
+ "taper into the writing end",
638
+ "guide orientation toward the tip",
639
+ "connect barrel to tip"
640
+ ],
641
+ "semantic_description": "A short tapered purple plastic front section with a matte smooth surface and hard feel, narrowing from the barrel toward the writing tip at the marker's writing end.",
642
+ "id": 3,
643
+ "grasp_group": {
644
+ "grasp_42": {
645
+ "confidence": 0.8963388800621033,
646
+ "position": [
647
+ -0.01053787009732332,
648
+ -0.13104188081342727,
649
+ 0.04857297304988606
650
+ ],
651
+ "orientation": {
652
+ "w": 0.4935711986971994,
653
+ "xyz": [
654
+ -0.8656480127475786,
655
+ -0.03901471372712284,
656
+ -0.0742889086981942
657
+ ]
658
+ }
659
+ },
660
+ "grasp_43": {
661
+ "confidence": 0.8898285031318665,
662
+ "position": [
663
+ 0.040695327465073206,
664
+ -0.1342195385368541,
665
+ 0.02188784319878323
666
+ ],
667
+ "orientation": {
668
+ "w": 0.4587577465370561,
669
+ "xyz": [
670
+ -0.280600938202987,
671
+ -0.7251268876397939,
672
+ -0.43011096276852834
673
+ ]
674
+ }
675
+ },
676
+ "grasp_44": {
677
+ "confidence": 0.8714691996574402,
678
+ "position": [
679
+ -0.016040901522501372,
680
+ -0.1401150041492656,
681
+ 0.03970677468896611
682
+ ],
683
+ "orientation": {
684
+ "w": 0.5187782828656653,
685
+ "xyz": [
686
+ -0.8425282463749714,
687
+ -0.07116295994575272,
688
+ -0.126297586750605
689
+ ]
690
+ }
691
+ },
692
+ "grasp_45": {
693
+ "confidence": 0.8608453869819641,
694
+ "position": [
695
+ -0.000925783344428055,
696
+ -0.13909694191534072,
697
+ 0.04549086902261479
698
+ ],
699
+ "orientation": {
700
+ "w": 0.5114096823682822,
701
+ "xyz": [
702
+ -0.8590761570092686,
703
+ -0.01715755739141045,
704
+ -0.01240610585637151
705
+ ]
706
+ }
707
+ },
708
+ "grasp_48": {
709
+ "confidence": 0.8516871333122253,
710
+ "position": [
711
+ 0.005916263107792474,
712
+ -0.14870066579896957,
713
+ -0.00642378658085363
714
+ ],
715
+ "orientation": {
716
+ "w": 0.6793450853995604,
717
+ "xyz": [
718
+ -0.6597143204318208,
719
+ 0.2083992711472552,
720
+ 0.24461605455476096
721
+ ]
722
+ }
723
+ },
724
+ "grasp_49": {
725
+ "confidence": 0.8365936279296875,
726
+ "position": [
727
+ -0.002931870854808949,
728
+ -0.14843953785020858,
729
+ -0.006701473444991279
730
+ ],
731
+ "orientation": {
732
+ "w": 0.7169569275015775,
733
+ "xyz": [
734
+ -0.6875656450314664,
735
+ -0.0745605300705765,
736
+ -0.08756126561189029
737
+ ]
738
+ }
739
+ },
740
+ "grasp_51": {
741
+ "confidence": 0.82650226354599,
742
+ "position": [
743
+ -0.00546331969962921,
744
+ -0.1364197098882869,
745
+ 0.0433342686665128
746
+ ],
747
+ "orientation": {
748
+ "w": 0.04740458743164408,
749
+ "xyz": [
750
+ -0.0054824612922915504,
751
+ 0.8544741417212238,
752
+ 0.5172974858226087
753
+ ]
754
+ }
755
+ },
756
+ "grasp_52": {
757
+ "confidence": 0.8261464238166809,
758
+ "position": [
759
+ -0.027404106091125868,
760
+ -0.13110318419057876,
761
+ 0.040084783620841336
762
+ ],
763
+ "orientation": {
764
+ "w": 0.4851620325300722,
765
+ "xyz": [
766
+ -0.8284279485196064,
767
+ -0.1291663352237824,
768
+ -0.2482760442486203
769
+ ]
770
+ }
771
+ },
772
+ "grasp_54": {
773
+ "confidence": 0.8166384100914001,
774
+ "position": [
775
+ -0.029110126997693442,
776
+ -0.13211708900053054,
777
+ 0.038102038837678265
778
+ ],
779
+ "orientation": {
780
+ "w": 0.47853789256183116,
781
+ "xyz": [
782
+ -0.8212027791358675,
783
+ -0.15295861966014912,
784
+ -0.27061253037076993
785
+ ]
786
+ }
787
+ },
788
+ "grasp_56": {
789
+ "confidence": 0.8155874609947205,
790
+ "position": [
791
+ -0.0005531665374292061,
792
+ -0.14669526752550155,
793
+ -0.0036879566687275656
794
+ ],
795
+ "orientation": {
796
+ "w": 0.5434070543949445,
797
+ "xyz": [
798
+ -0.5102973537455635,
799
+ 0.4645251851359533,
800
+ 0.478039471559089
801
+ ]
802
+ }
803
+ },
804
+ "grasp_58": {
805
+ "confidence": 0.8088316917419434,
806
+ "position": [
807
+ 0.0007988543511601165,
808
+ -0.14584071573335677,
809
+ -0.004297716841392685
810
+ ],
811
+ "orientation": {
812
+ "w": 0.28757931536673353,
813
+ "xyz": [
814
+ -0.25120596783520643,
815
+ -0.6464313537148185,
816
+ -0.6605453837788937
817
+ ]
818
+ }
819
+ }
820
+ }
821
+ },
822
+ {
823
+ "part_name": "writing tip",
824
+ "mask_color": "Blue",
825
+ "graspable": false,
826
+ "grasp_scenarios": [],
827
+ "functional_labels": [
828
+ "apply ink",
829
+ "write or draw",
830
+ "mark surfaces",
831
+ "provide precise contact point"
832
+ ],
833
+ "semantic_description": "A tiny dark felt-like nib at the front, appearing soft and porous with a blunt chisel-like shape that protrudes slightly from the purple tip holder.",
834
+ "id": 2,
835
+ "grasp_group": {}
836
+ }
837
+ ],
838
+ "quality_check": {
839
+ "success": true,
840
+ "message": "YES"
841
+ }
842
+ }
dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c259622e9b0581e3a8a4c08d005f73659a1a3b79275b5509bebd5ebcfeb8e27b
3
+ size 3781696