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
a2df931
·
verified ·
1 Parent(s): 1019710

Add asset desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/affordance_annot.json +623 -0
  3. dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.urdf +1 -0
.gitattributes CHANGED
@@ -6554,3 +6554,4 @@ dataset/desktop_supplies/office_tools/3667d3fde2ef5a5f96cff244ba116d60/affordanc
6554
  dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6555
  dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6556
  dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6554
  dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6555
  dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6556
  dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6557
+ dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,623 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "box body frame",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer side walls of the box to pick up and move the staples case",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the box body steady while opening or closing the lid",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp the body from the sides for transport or repositioning",
18
+ "confidence": 0.93
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain staple strips",
23
+ "form the main container structure",
24
+ "protect contents",
25
+ "provide primary grasp surfaces",
26
+ "support the lid and dividers"
27
+ ],
28
+ "semantic_description": "Main rectangular outer frame made of translucent frosted plastic, off-white/clear in appearance with a smooth hard finish, forming the box walls around the staple compartments.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.8708382248878479,
33
+ "position": [
34
+ 0.007555833901278675,
35
+ -0.09764123253989965,
36
+ 0.0269130258820951
37
+ ],
38
+ "orientation": {
39
+ "w": 0.15882925246682375,
40
+ "xyz": [
41
+ -0.09901248683588611,
42
+ -0.77641601994237,
43
+ -0.6017873046087404
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.8063657879829407,
49
+ "position": [
50
+ 0.012446015956811607,
51
+ 0.08386721170973033,
52
+ -0.05061673978343606
53
+ ],
54
+ "orientation": {
55
+ "w": 0.054132885002172226,
56
+ "xyz": [
57
+ 0.07863251748383882,
58
+ 0.49292528564289695,
59
+ -0.8648186056794595
60
+ ]
61
+ }
62
+ },
63
+ "grasp_5": {
64
+ "confidence": 0.7806656360626221,
65
+ "position": [
66
+ 0.011204589041881263,
67
+ -0.08504998974967748,
68
+ -0.0497945980168879
69
+ ],
70
+ "orientation": {
71
+ "w": 0.07223040793539588,
72
+ "xyz": [
73
+ -0.0812005819216162,
74
+ 0.49443775245130006,
75
+ 0.8623923368258696
76
+ ]
77
+ }
78
+ },
79
+ "grasp_6": {
80
+ "confidence": 0.7741017937660217,
81
+ "position": [
82
+ 0.020793905365280807,
83
+ -0.08183159225154668,
84
+ -0.051820016000419855
85
+ ],
86
+ "orientation": {
87
+ "w": 0.871021443522285,
88
+ "xyz": [
89
+ -0.47701695806324,
90
+ -0.11064346355963262,
91
+ -0.03917257479380236
92
+ ]
93
+ }
94
+ },
95
+ "grasp_14": {
96
+ "confidence": 0.8446173071861267,
97
+ "position": [
98
+ 0.02295180212240666,
99
+ -0.0045589866349473596,
100
+ -0.09354732418432832
101
+ ],
102
+ "orientation": {
103
+ "w": 0.9896934846040211,
104
+ "xyz": [
105
+ -0.0341479216249645,
106
+ -0.1009243914764254,
107
+ 0.09568172859098394
108
+ ]
109
+ }
110
+ },
111
+ "grasp_16": {
112
+ "confidence": 0.7937029004096985,
113
+ "position": [
114
+ 0.02511349495034665,
115
+ 0.09718081809114665,
116
+ 0.02683132467791438
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5794760443061294,
120
+ "xyz": [
121
+ 0.7867336811854602,
122
+ 0.04901933410843062,
123
+ -0.20701384940931258
124
+ ]
125
+ }
126
+ },
127
+ "grasp_18": {
128
+ "confidence": 0.7505274415016174,
129
+ "position": [
130
+ -0.011456306208856404,
131
+ -0.07903449528384954,
132
+ 0.058367596473544836
133
+ ],
134
+ "orientation": {
135
+ "w": 0.19082718240879437,
136
+ "xyz": [
137
+ -0.17247951985919402,
138
+ 0.8801458225003755,
139
+ 0.3989725965755038
140
+ ]
141
+ }
142
+ }
143
+ }
144
+ },
145
+ {
146
+ "part_name": "lid",
147
+ "mask_color": "Green",
148
+ "graspable": true,
149
+ "grasp_scenarios": [
150
+ {
151
+ "scenario": "grasp the front edge of the lid to open the staples box",
152
+ "confidence": 0.88
153
+ },
154
+ {
155
+ "scenario": "hold the lid while closing it over the compartments",
156
+ "confidence": 0.82
157
+ },
158
+ {
159
+ "scenario": "lightly stabilize the open lid during access",
160
+ "confidence": 0.56
161
+ }
162
+ ],
163
+ "functional_labels": [
164
+ "cover the contents",
165
+ "open for access",
166
+ "protect staples from dust",
167
+ "retain contents when closed"
168
+ ],
169
+ "semantic_description": "Flat translucent frosted plastic lid with a smooth hard surface, rectangular and hinged at the rear, covering the full top opening.",
170
+ "id": 1,
171
+ "grasp_group": {
172
+ "grasp_20": {
173
+ "confidence": 0.7688937783241272,
174
+ "position": [
175
+ 0.008644844288937747,
176
+ -0.09973632835317403,
177
+ 0.01857225177809596
178
+ ],
179
+ "orientation": {
180
+ "w": 0.6754281267600635,
181
+ "xyz": [
182
+ -0.7340539605530807,
183
+ -0.0650075020526627,
184
+ -0.027122928577137523
185
+ ]
186
+ }
187
+ },
188
+ "grasp_27": {
189
+ "confidence": 0.6345741152763367,
190
+ "position": [
191
+ -0.005575317540206015,
192
+ 0.09480797208379954,
193
+ 0.05550130968913436
194
+ ],
195
+ "orientation": {
196
+ "w": 0.5240869329647201,
197
+ "xyz": [
198
+ 0.8510419638192065,
199
+ -0.010838129370848826,
200
+ 0.030708263808335766
201
+ ]
202
+ }
203
+ },
204
+ "grasp_32": {
205
+ "confidence": 0.4991285502910614,
206
+ "position": [
207
+ -0.0043690953170880675,
208
+ 0.09588163055013865,
209
+ 0.056884830351918936
210
+ ],
211
+ "orientation": {
212
+ "w": 0.5225714334874181,
213
+ "xyz": [
214
+ 0.8506835652978237,
215
+ -0.018688025400586672,
216
+ 0.05391962853836396
217
+ ]
218
+ }
219
+ },
220
+ "grasp_38": {
221
+ "confidence": 0.717221736907959,
222
+ "position": [
223
+ -0.003324154415167868,
224
+ 0.09574308700393885,
225
+ 0.0057261178735643625
226
+ ],
227
+ "orientation": {
228
+ "w": 0.7137843125106824,
229
+ "xyz": [
230
+ 0.6967037927499298,
231
+ -0.03257436718622897,
232
+ 0.06367645549127689
233
+ ]
234
+ }
235
+ },
236
+ "grasp_39": {
237
+ "confidence": 0.6654452085494995,
238
+ "position": [
239
+ -0.025627566617913544,
240
+ 0.0866203875048086,
241
+ 0.06571389501914382
242
+ ],
243
+ "orientation": {
244
+ "w": 0.45623478940404183,
245
+ "xyz": [
246
+ 0.8802702886702325,
247
+ -0.013020088691557241,
248
+ 0.12963222250790488
249
+ ]
250
+ }
251
+ }
252
+ }
253
+ },
254
+ {
255
+ "part_name": "latch tab",
256
+ "mask_color": "Pink",
257
+ "graspable": true,
258
+ "grasp_scenarios": [
259
+ {
260
+ "scenario": "pinch or hook the small front tab to open the box",
261
+ "confidence": 0.9
262
+ },
263
+ {
264
+ "scenario": "press the tab into place to secure the lid when closing",
265
+ "confidence": 0.78
266
+ }
267
+ ],
268
+ "functional_labels": [
269
+ "open the lid",
270
+ "secure closure",
271
+ "provide a pull point",
272
+ "mark the front side"
273
+ ],
274
+ "semantic_description": "Small translucent plastic tab at the front center of the lid, slightly protruding and smooth, used as the closure and pull point.",
275
+ "id": 8,
276
+ "grasp_group": {}
277
+ },
278
+ {
279
+ "part_name": "left staple strip",
280
+ "mask_color": "Orange",
281
+ "graspable": true,
282
+ "grasp_scenarios": [
283
+ {
284
+ "scenario": "pinch the exposed left staple strip to remove it from its compartment",
285
+ "confidence": 0.64
286
+ },
287
+ {
288
+ "scenario": "grasp the strip lightly to inspect or reposition it",
289
+ "confidence": 0.48
290
+ }
291
+ ],
292
+ "functional_labels": [
293
+ "provide refill staples",
294
+ "fasten papers when used in a stapler",
295
+ "store staple supply",
296
+ "occupy the left compartment"
297
+ ],
298
+ "semantic_description": "Compact rectangular strip of metallic staples with a red top appearance, fine linear ribbing, and slight reflectivity, seated in the left interior compartment.",
299
+ "id": 4,
300
+ "grasp_group": {
301
+ "grasp_68": {
302
+ "confidence": 0.5269414186477661,
303
+ "position": [
304
+ -0.09087111812550575,
305
+ 0.027900456334464252,
306
+ -0.0023796651512384415
307
+ ],
308
+ "orientation": {
309
+ "w": 0.712966140148202,
310
+ "xyz": [
311
+ 0.15258592976169333,
312
+ 0.6724150921842552,
313
+ -0.12749416003791622
314
+ ]
315
+ }
316
+ },
317
+ "grasp_69": {
318
+ "confidence": 0.10345681756734848,
319
+ "position": [
320
+ -0.0957830996485427,
321
+ -0.016013104584999382,
322
+ 0.01921232556924224
323
+ ],
324
+ "orientation": {
325
+ "w": 0.7132843775008691,
326
+ "xyz": [
327
+ 0.0349100213508942,
328
+ 0.6949000866641043,
329
+ 0.08438339159276453
330
+ ]
331
+ }
332
+ },
333
+ "grasp_76": {
334
+ "confidence": 0.6387511491775513,
335
+ "position": [
336
+ 0.09806917596142739,
337
+ 0.00046448269858956337,
338
+ 0.016899630893021822
339
+ ],
340
+ "orientation": {
341
+ "w": 0.4072555854711936,
342
+ "xyz": [
343
+ 0.6170133329486672,
344
+ -0.415805537729372,
345
+ -0.5296632796972811
346
+ ]
347
+ }
348
+ },
349
+ "grasp_78": {
350
+ "confidence": 0.6084254384040833,
351
+ "position": [
352
+ -0.06519077729899436,
353
+ -0.06500687741208822,
354
+ 0.05344264721497893
355
+ ],
356
+ "orientation": {
357
+ "w": 0.49567042833894076,
358
+ "xyz": [
359
+ -0.3282419756093046,
360
+ 0.7872059169288131,
361
+ 0.16393558573616426
362
+ ]
363
+ }
364
+ }
365
+ }
366
+ },
367
+ {
368
+ "part_name": "center staple strip",
369
+ "mask_color": "Purple",
370
+ "graspable": true,
371
+ "grasp_scenarios": [
372
+ {
373
+ "scenario": "pinch the exposed center staple strip to remove it from the middle compartment",
374
+ "confidence": 0.66
375
+ },
376
+ {
377
+ "scenario": "grasp the strip lightly to sort or transfer staples",
378
+ "confidence": 0.5
379
+ }
380
+ ],
381
+ "functional_labels": [
382
+ "provide refill staples",
383
+ "fasten papers when used in a stapler",
384
+ "store staple supply",
385
+ "occupy the center compartment"
386
+ ],
387
+ "semantic_description": "Compact rectangular strip of metallic staples with a yellow top appearance, fine lined texture, and slight reflectivity, positioned in the middle interior compartment.",
388
+ "id": 5,
389
+ "grasp_group": {
390
+ "grasp_81": {
391
+ "confidence": 0.8978516459465027,
392
+ "position": [
393
+ 0.0958127750782296,
394
+ -0.0025297639658674598,
395
+ 0.0228002923540771
396
+ ],
397
+ "orientation": {
398
+ "w": 0.6269348731366066,
399
+ "xyz": [
400
+ -0.03499399520639936,
401
+ -0.7782556368579417,
402
+ 0.006800650227807071
403
+ ]
404
+ }
405
+ },
406
+ "grasp_86": {
407
+ "confidence": 0.8348860144615173,
408
+ "position": [
409
+ 0.08463772374670953,
410
+ -0.05057100870180875,
411
+ 0.020011698361486197
412
+ ],
413
+ "orientation": {
414
+ "w": 0.2264399920015805,
415
+ "xyz": [
416
+ -0.7636243455399508,
417
+ 0.14921011845582777,
418
+ 0.5859514736489737
419
+ ]
420
+ }
421
+ },
422
+ "grasp_91": {
423
+ "confidence": 0.7932284474372864,
424
+ "position": [
425
+ 0.10035608697216958,
426
+ -0.005089104291982949,
427
+ 0.01381063973531127
428
+ ],
429
+ "orientation": {
430
+ "w": 0.05612636104696134,
431
+ "xyz": [
432
+ -0.7668429185199189,
433
+ 0.003229145550711743,
434
+ 0.6393679242271164
435
+ ]
436
+ }
437
+ },
438
+ "grasp_92": {
439
+ "confidence": 0.7930070161819458,
440
+ "position": [
441
+ 0.10012565541546792,
442
+ 0.0016350854421034455,
443
+ 0.005070768063887954
444
+ ],
445
+ "orientation": {
446
+ "w": 0.6772040794899467,
447
+ "xyz": [
448
+ -0.03318320055362232,
449
+ -0.7336568474499852,
450
+ 0.04517897866200071
451
+ ]
452
+ }
453
+ },
454
+ "grasp_98": {
455
+ "confidence": 0.8977954983711243,
456
+ "position": [
457
+ 0.0952835603384301,
458
+ 0.0010295429965481162,
459
+ 0.027371257077902555
460
+ ],
461
+ "orientation": {
462
+ "w": 0.6195553642447086,
463
+ "xyz": [
464
+ 0.015527147901929253,
465
+ -0.7846590363943448,
466
+ -0.01484098778170929
467
+ ]
468
+ }
469
+ }
470
+ }
471
+ },
472
+ {
473
+ "part_name": "right staple strip",
474
+ "mask_color": "Blue",
475
+ "graspable": true,
476
+ "grasp_scenarios": [
477
+ {
478
+ "scenario": "pinch the exposed right staple strip to remove it from the right compartment",
479
+ "confidence": 0.68
480
+ },
481
+ {
482
+ "scenario": "grasp the strip lightly to reposition or load staples into a stapler",
483
+ "confidence": 0.52
484
+ }
485
+ ],
486
+ "functional_labels": [
487
+ "provide refill staples",
488
+ "fasten papers when used in a stapler",
489
+ "store staple supply",
490
+ "occupy the right compartment"
491
+ ],
492
+ "semantic_description": "Compact rectangular strip of metallic staples with a blue top appearance, fine linear ribbing, and slight reflectivity, placed in the right interior compartment.",
493
+ "id": 2,
494
+ "grasp_group": {
495
+ "grasp_42": {
496
+ "confidence": 0.7833867073059082,
497
+ "position": [
498
+ -0.09877461951691657,
499
+ 0.01060459844302386,
500
+ -0.009482162538915873
501
+ ],
502
+ "orientation": {
503
+ "w": 0.744689745802656,
504
+ "xyz": [
505
+ -0.0013247107859547707,
506
+ 0.6672120324848351,
507
+ -0.01623364854751109
508
+ ]
509
+ }
510
+ },
511
+ "grasp_49": {
512
+ "confidence": 0.80088210105896,
513
+ "position": [
514
+ 0.08303520816843957,
515
+ 0.06533886946272105,
516
+ 0.01487455377355218
517
+ ],
518
+ "orientation": {
519
+ "w": 0.6159441714388836,
520
+ "xyz": [
521
+ 0.1797829522286204,
522
+ -0.7289288668184288,
523
+ 0.23864948120042195
524
+ ]
525
+ }
526
+ }
527
+ }
528
+ },
529
+ {
530
+ "part_name": "front label panel",
531
+ "mask_color": "Pink",
532
+ "graspable": false,
533
+ "grasp_scenarios": [],
534
+ "functional_labels": [
535
+ "display branding",
536
+ "show product information",
537
+ "identify the box front",
538
+ "provide visual labeling"
539
+ ],
540
+ "semantic_description": "Bright red rectangular front label with white printed branding and text, smooth semi-gloss surface, thin and flat, attached to the outer front face of the box.",
541
+ "id": 8,
542
+ "grasp_group": {}
543
+ },
544
+ {
545
+ "part_name": "side and bottom panels",
546
+ "mask_color": "Olive",
547
+ "graspable": true,
548
+ "grasp_scenarios": [
549
+ {
550
+ "scenario": "grasp the side panel area to lift the box from a shelf",
551
+ "confidence": 0.84
552
+ },
553
+ {
554
+ "scenario": "support the box from underneath during transport",
555
+ "confidence": 0.88
556
+ },
557
+ {
558
+ "scenario": "hold a side panel to stabilize the box while accessing staples",
559
+ "confidence": 0.79
560
+ }
561
+ ],
562
+ "functional_labels": [
563
+ "support the container",
564
+ "form enclosure walls",
565
+ "protect contents",
566
+ "provide secondary grasp surfaces"
567
+ ],
568
+ "semantic_description": "Translucent frosted plastic side and bottom panels, appearing pale bluish to off-white depending on view, broad and flat, enclosing the compartments and faintly revealing the staple strips.",
569
+ "id": 14,
570
+ "grasp_group": {
571
+ "grasp_108": {
572
+ "confidence": 0.7560707330703735,
573
+ "position": [
574
+ -0.015626403619535267,
575
+ -0.09883016638923436,
576
+ 0.028112913947552443
577
+ ],
578
+ "orientation": {
579
+ "w": 0.15319362893616492,
580
+ "xyz": [
581
+ -0.03893314584380497,
582
+ 0.8138633902461838,
583
+ 0.559144260656462
584
+ ]
585
+ }
586
+ },
587
+ "grasp_111": {
588
+ "confidence": 0.7041463851928711,
589
+ "position": [
590
+ 0.011018087971024215,
591
+ -0.10303999029565603,
592
+ -0.004304409027099609
593
+ ],
594
+ "orientation": {
595
+ "w": 0.07081104155030038,
596
+ "xyz": [
597
+ -0.08756560429178055,
598
+ 0.7002871122680878,
599
+ 0.704922706210262
600
+ ]
601
+ }
602
+ }
603
+ }
604
+ },
605
+ {
606
+ "part_name": "rear lid hinge blocks",
607
+ "mask_color": "Dark Blue",
608
+ "graspable": false,
609
+ "grasp_scenarios": [],
610
+ "functional_labels": [
611
+ "connect lid to box at the rear edge",
612
+ "guide lid rotation",
613
+ "reinforce the hinge area"
614
+ ],
615
+ "semantic_description": "Two small hard plastic hinge blocks near the rear top edge of the box, smooth and rectangular, linking the lid to the main body and enabling opening motion.",
616
+ "id": null
617
+ }
618
+ ],
619
+ "quality_check": {
620
+ "success": false,
621
+ "message": "Mask colors/parts mismatched: pink combines latch and front label; dark blue hinge blocks not present; staple strip color descriptions wrong."
622
+ }
623
+ }
dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:512e7fcc5d27c73a5f73a805cf9973d0030edf9877bb68c7d2ced8a5af04fbea
3
+ size 3787512
dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.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>