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
c51efaf
·
verified ·
1 Parent(s): 608fdaa

Add asset food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7

Browse files
Files changed (3) hide show
  1. .gitattributes +2 -1
  2. dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/affordance_annot.json +707 -0
  3. dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -6734,4 +6734,5 @@ dataset/food/beverages/9044112657245b92924b802a8f6d737b/affordance/mesh_part_seg
6734
  dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6735
  dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6736
  dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6737
- dataset/food/beverages/b154cc663fd05343822e1b382dab40a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6734
  dataset/food/beverages/971432c3582d56cbabadeb22ace92df5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6735
  dataset/food/beverages/92a48cc3aa755abaae8f62b11b1b9112/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6736
  dataset/food/beverages/aa5b8e75dfc65ba0b57efd6e83dd467a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6737
+ dataset/food/beverages/b6855ffdcc5b5a4e99a945ca51a94cf1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6738
+ dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,707 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle cap",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp and twist the cap to open the juice bottle",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to stabilize the bottle neck during manipulation",
14
+ "confidence": 0.61
15
+ },
16
+ {
17
+ "scenario": "pick up the bottle by the cap in a careful vertical lift",
18
+ "confidence": 0.24
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "seal the bottle opening",
23
+ "enable opening by twisting",
24
+ "protect contents from leakage",
25
+ "provide a small top grip"
26
+ ],
27
+ "semantic_description": "Small round yellow-gold plastic cap with a glossy finish, hard smooth feel, shallow ribbing around the side, and white printed branding on the top at the bottle's top.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9801355600357056,
32
+ "position": [
33
+ 0.08578218231559731,
34
+ 0.0237043443339644,
35
+ 0.12292901915498078
36
+ ],
37
+ "orientation": {
38
+ "w": 0.30655409203869755,
39
+ "xyz": [
40
+ -0.5186373950976629,
41
+ -0.6808848733563015,
42
+ 0.41645603644948326
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9800789952278137,
48
+ "position": [
49
+ 0.048459318379173055,
50
+ -0.0731609948707046,
51
+ 0.13052086276002228
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4620402849474676,
55
+ "xyz": [
56
+ -0.8382054158340783,
57
+ -0.2601066364181909,
58
+ 0.12757348330784823
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9786568284034729,
64
+ "position": [
65
+ -0.039711023768177256,
66
+ -0.021207779718679376,
67
+ 0.16876449924893677
68
+ ],
69
+ "orientation": {
70
+ "w": 0.19976848119980808,
71
+ "xyz": [
72
+ -0.7838161669634292,
73
+ 0.5774035112334337,
74
+ -0.11104033294790444
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9782780408859253,
80
+ "position": [
81
+ 0.08330574343563057,
82
+ 0.028233960198122077,
83
+ 0.12744828802533448
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3176490041929566,
87
+ "xyz": [
88
+ -0.4759406872035151,
89
+ -0.7172651120930403,
90
+ 0.3976308984141285
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.978088915348053,
96
+ "position": [
97
+ -0.03904546712874435,
98
+ -0.015001863313955255,
99
+ 0.16952198487706482
100
+ ],
101
+ "orientation": {
102
+ "w": 0.1864259643202764,
103
+ "xyz": [
104
+ -0.7335703728258322,
105
+ 0.6431025663704303,
106
+ -0.11635702414203827
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9777774810791016,
112
+ "position": [
113
+ -0.07052824189304374,
114
+ 0.045523822234827094,
115
+ 0.13108668965287507
116
+ ],
117
+ "orientation": {
118
+ "w": 0.22823900145552264,
119
+ "xyz": [
120
+ -0.3917613278351983,
121
+ 0.7804673448841329,
122
+ -0.4304657289458711
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9771489500999451,
128
+ "position": [
129
+ -0.08151223053573631,
130
+ -0.03952464468602557,
131
+ 0.1236298878211528
132
+ ],
133
+ "orientation": {
134
+ "w": 0.44203429265075433,
135
+ "xyz": [
136
+ -0.7149717266190633,
137
+ 0.4730783028838631,
138
+ -0.26385229503763424
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9770749807357788,
144
+ "position": [
145
+ 0.060372390697011724,
146
+ -0.06430288038973231,
147
+ 0.13372067851014435
148
+ ],
149
+ "orientation": {
150
+ "w": 0.45181437091308607,
151
+ "xyz": [
152
+ -0.8112139610426825,
153
+ -0.3330025945590447,
154
+ 0.16402730157750567
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9766350984573364,
160
+ "position": [
161
+ 0.031808470288524404,
162
+ -0.04511328048829455,
163
+ 0.1639252428431064
164
+ ],
165
+ "orientation": {
166
+ "w": 0.09642528635665873,
167
+ "xyz": [
168
+ 0.25161154382468304,
169
+ -0.9283978496046409,
170
+ -0.25587346094246577
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9762420654296875,
176
+ "position": [
177
+ -0.010041697969427332,
178
+ -0.0841364078951301,
179
+ 0.13014173251576722
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4870227211739022,
183
+ "xyz": [
184
+ -0.8680079539761608,
185
+ 0.09537312497022704,
186
+ -0.016583965988251084
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9761338233947754,
192
+ "position": [
193
+ -0.0906391992175486,
194
+ 0.029084145950037055,
195
+ 0.08433497441001236
196
+ ],
197
+ "orientation": {
198
+ "w": 0.40280918311112746,
199
+ "xyz": [
200
+ -0.4218201813375814,
201
+ 0.604320792574279,
202
+ -0.5427788465665097
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.975957989692688,
208
+ "position": [
209
+ 0.08375722626806237,
210
+ 0.012542991826194339,
211
+ 0.12768888217397034
212
+ ],
213
+ "orientation": {
214
+ "w": 0.3816247951783199,
215
+ "xyz": [
216
+ 0.6610730413607878,
217
+ -0.5553161506964353,
218
+ -0.33010441146218766
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9757448434829712,
224
+ "position": [
225
+ 0.07932717064977624,
226
+ -0.030160157082718797,
227
+ 0.13357439381070435
228
+ ],
229
+ "orientation": {
230
+ "w": 0.3872711924546145,
231
+ "xyz": [
232
+ -0.7415140661699253,
233
+ -0.46734051191822423,
234
+ 0.2859558691248297
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9757102131843567,
240
+ "position": [
241
+ 0.05948274294496514,
242
+ -0.0030947337654652074,
243
+ 0.16050560516305268
244
+ ],
245
+ "orientation": {
246
+ "w": 0.19578713529973268,
247
+ "xyz": [
248
+ 0.7169138650540378,
249
+ -0.6274565728459077,
250
+ -0.23237933844658634
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9755217432975769,
256
+ "position": [
257
+ 0.08826546082855202,
258
+ -0.023117523713153787,
259
+ 0.12610602867789567
260
+ ],
261
+ "orientation": {
262
+ "w": 0.3921723494093904,
263
+ "xyz": [
264
+ -0.6981562775712713,
265
+ -0.5012757746251773,
266
+ 0.32787384497771915
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.9754721522331238,
272
+ "position": [
273
+ 0.009925275953719392,
274
+ -0.04701722048048396,
275
+ 0.16646015387959778
276
+ ],
277
+ "orientation": {
278
+ "w": 0.24679343638183265,
279
+ "xyz": [
280
+ -0.9559971109077455,
281
+ -0.15776240849859569,
282
+ 0.016539230925655436
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9752943515777588,
288
+ "position": [
289
+ 0.028929176653036848,
290
+ -0.09804280482057948,
291
+ 0.08872765791602433
292
+ ],
293
+ "orientation": {
294
+ "w": 0.08648350231229537,
295
+ "xyz": [
296
+ 0.1359497161103027,
297
+ -0.7347866309007133,
298
+ -0.6588830590984304
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.975040853023529,
304
+ "position": [
305
+ 0.035528388718375936,
306
+ -0.08191550902847666,
307
+ 0.12833171826787293
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4912281145841406,
311
+ "xyz": [
312
+ -0.8524358782228388,
313
+ -0.1390866268283335,
314
+ 0.1127072455438606
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9747549891471863,
320
+ "position": [
321
+ 0.045898848125943914,
322
+ -0.07404663048509974,
323
+ 0.12901128572411835
324
+ ],
325
+ "orientation": {
326
+ "w": 0.11899717214796153,
327
+ "xyz": [
328
+ 0.2810555368060997,
329
+ -0.8185358442387493,
330
+ -0.48666880930236495
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9745571613311768,
336
+ "position": [
337
+ 0.08523571203113534,
338
+ 0.020955359490471892,
339
+ 0.12701213103719056
340
+ ],
341
+ "orientation": {
342
+ "w": 0.3081825370699352,
343
+ "xyz": [
344
+ -0.553340954764829,
345
+ -0.6559385784523304,
346
+ 0.4105872537269281
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "bottle body",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the bottle body to pick up and transport the juice",
359
+ "confidence": 0.97
360
+ },
361
+ {
362
+ "scenario": "hold the bottle body while pouring the juice",
363
+ "confidence": 0.93
364
+ },
365
+ {
366
+ "scenario": "side-grasp the midsection to place or reorient the bottle",
367
+ "confidence": 0.91
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "contain the juice",
372
+ "provide the main grasp surface",
373
+ "support pouring",
374
+ "support labeling and product identification",
375
+ "protect contents"
376
+ ],
377
+ "semantic_description": "Medium cylindrical bottle body with a slightly waisted profile, pale yellow translucent plastic, glossy smooth surface, hard feel, and a printed fruit label around the middle and lower area.",
378
+ "id": 1,
379
+ "grasp_group": {
380
+ "grasp_0": {
381
+ "confidence": 0.9815447330474854,
382
+ "position": [
383
+ 0.041280691424617544,
384
+ -0.09452514730219264,
385
+ 0.061537687899544835
386
+ ],
387
+ "orientation": {
388
+ "w": 0.6876252074262649,
389
+ "xyz": [
390
+ -0.6970835933125029,
391
+ -0.10900451151760915,
392
+ 0.17135943077438984
393
+ ]
394
+ }
395
+ },
396
+ "grasp_1": {
397
+ "confidence": 0.9812192320823669,
398
+ "position": [
399
+ 0.04138351316214539,
400
+ -0.09678314260963816,
401
+ 0.06449285638518631
402
+ ],
403
+ "orientation": {
404
+ "w": 0.6890401829188302,
405
+ "xyz": [
406
+ -0.6979963960612983,
407
+ -0.10272727995227593,
408
+ 0.16574608098604038
409
+ ]
410
+ }
411
+ },
412
+ "grasp_2": {
413
+ "confidence": 0.9806601405143738,
414
+ "position": [
415
+ -0.043097849091282114,
416
+ 0.087955836133915,
417
+ 0.05903397244401276
418
+ ],
419
+ "orientation": {
420
+ "w": 0.18080954025163432,
421
+ "xyz": [
422
+ -0.14404469397252018,
423
+ 0.691651561801449,
424
+ -0.6842347209474037
425
+ ]
426
+ }
427
+ },
428
+ "grasp_3": {
429
+ "confidence": 0.9801496863365173,
430
+ "position": [
431
+ 0.05267503569484688,
432
+ 0.0859290919470368,
433
+ 0.05861329031176865
434
+ ],
435
+ "orientation": {
436
+ "w": 0.19236014557457803,
437
+ "xyz": [
438
+ -0.19652975962699626,
439
+ -0.680798532632539,
440
+ 0.6788865781121792
441
+ ]
442
+ }
443
+ },
444
+ "grasp_4": {
445
+ "confidence": 0.9800752401351929,
446
+ "position": [
447
+ -0.03987443362711929,
448
+ 0.09385922171350103,
449
+ 0.05086774122901261
450
+ ],
451
+ "orientation": {
452
+ "w": 0.11888921835209373,
453
+ "xyz": [
454
+ -0.16177105313742066,
455
+ 0.6920347086031925,
456
+ -0.6933854932250403
457
+ ]
458
+ }
459
+ },
460
+ "grasp_5": {
461
+ "confidence": 0.9794554710388184,
462
+ "position": [
463
+ 0.032908436754951254,
464
+ 0.08789977051492315,
465
+ 0.10143364709801972
466
+ ],
467
+ "orientation": {
468
+ "w": 0.11279388228521724,
469
+ "xyz": [
470
+ -0.1292563501310012,
471
+ -0.811859951370486,
472
+ 0.5580804202178695
473
+ ]
474
+ }
475
+ },
476
+ "grasp_6": {
477
+ "confidence": 0.978675127029419,
478
+ "position": [
479
+ -0.027848887344589457,
480
+ 0.09566372998233419,
481
+ 0.06084093567915261
482
+ ],
483
+ "orientation": {
484
+ "w": 0.11060765000960918,
485
+ "xyz": [
486
+ -0.09539368382727996,
487
+ 0.7003577933074594,
488
+ -0.6986880235117231
489
+ ]
490
+ }
491
+ },
492
+ "grasp_7": {
493
+ "confidence": 0.9783412218093872,
494
+ "position": [
495
+ -0.052829294552793726,
496
+ 0.08355196930642705,
497
+ 0.056899068178609014
498
+ ],
499
+ "orientation": {
500
+ "w": 0.23011752017040366,
501
+ "xyz": [
502
+ -0.16126165207037516,
503
+ 0.683362480981449,
504
+ -0.6738370174374774
505
+ ]
506
+ }
507
+ },
508
+ "grasp_8": {
509
+ "confidence": 0.9782145023345947,
510
+ "position": [
511
+ -0.030437951063504443,
512
+ 0.0922587997483788,
513
+ 0.06901404750533402
514
+ ],
515
+ "orientation": {
516
+ "w": 0.6854888186524434,
517
+ "xyz": [
518
+ 0.7015492272773597,
519
+ 0.18152955941269877,
520
+ 0.07057464323996475
521
+ ]
522
+ }
523
+ },
524
+ "grasp_9": {
525
+ "confidence": 0.9776082634925842,
526
+ "position": [
527
+ -0.06270165284513496,
528
+ 0.07782127328391653,
529
+ 0.05295650404877961
530
+ ],
531
+ "orientation": {
532
+ "w": 0.6853887012504024,
533
+ "xyz": [
534
+ 0.6370654166968382,
535
+ 0.2780384080469779,
536
+ 0.21698992303301357
537
+ ]
538
+ }
539
+ },
540
+ "grasp_10": {
541
+ "confidence": 0.9775288105010986,
542
+ "position": [
543
+ -0.042365207424154505,
544
+ 0.08555347092624288,
545
+ 0.07322094333358109
546
+ ],
547
+ "orientation": {
548
+ "w": 0.16830606316621768,
549
+ "xyz": [
550
+ -0.16044245172181765,
551
+ 0.7224849398186993,
552
+ -0.6511119723382089
553
+ ]
554
+ }
555
+ },
556
+ "grasp_11": {
557
+ "confidence": 0.9771037697792053,
558
+ "position": [
559
+ 0.08954962054849602,
560
+ -0.04452036328439135,
561
+ 0.06839678180404007
562
+ ],
563
+ "orientation": {
564
+ "w": 0.5747421506968741,
565
+ "xyz": [
566
+ -0.6261013046396533,
567
+ -0.35587031612195474,
568
+ 0.38861926694917726
569
+ ]
570
+ }
571
+ },
572
+ "grasp_12": {
573
+ "confidence": 0.9768580198287964,
574
+ "position": [
575
+ -0.04568209042190574,
576
+ 0.08839338638063055,
577
+ 0.06491997581906617
578
+ ],
579
+ "orientation": {
580
+ "w": 0.7006864030964557,
581
+ "xyz": [
582
+ 0.6621029636269511,
583
+ 0.23696257557237033,
584
+ 0.1204448747364034
585
+ ]
586
+ }
587
+ },
588
+ "grasp_13": {
589
+ "confidence": 0.9767881631851196,
590
+ "position": [
591
+ 0.059010212222347036,
592
+ 0.0821424908208428,
593
+ 0.05688721057958901
594
+ ],
595
+ "orientation": {
596
+ "w": 0.19877739363491626,
597
+ "xyz": [
598
+ -0.24277922862427675,
599
+ -0.6566541652799559,
600
+ 0.6858214790663782
601
+ ]
602
+ }
603
+ },
604
+ "grasp_14": {
605
+ "confidence": 0.976787269115448,
606
+ "position": [
607
+ 0.06987917880178429,
608
+ -0.07544391237024684,
609
+ 0.055885833920910954
610
+ ],
611
+ "orientation": {
612
+ "w": 0.22873987765469656,
613
+ "xyz": [
614
+ 0.2886873570492212,
615
+ -0.6461477404017271,
616
+ -0.6684540192295894
617
+ ]
618
+ }
619
+ },
620
+ "grasp_15": {
621
+ "confidence": 0.9766268134117126,
622
+ "position": [
623
+ 0.04867351884604432,
624
+ -0.08419683210377116,
625
+ 0.10723428917117417
626
+ ],
627
+ "orientation": {
628
+ "w": 0.532068478289189,
629
+ "xyz": [
630
+ -0.807079971150806,
631
+ -0.21973627887399527,
632
+ 0.13130507349242457
633
+ ]
634
+ }
635
+ },
636
+ "grasp_16": {
637
+ "confidence": 0.976569414138794,
638
+ "position": [
639
+ -0.015167038975050673,
640
+ 0.09799401827331167,
641
+ 0.06188918021507561
642
+ ],
643
+ "orientation": {
644
+ "w": 0.7174702129378384,
645
+ "xyz": [
646
+ 0.6896816473144697,
647
+ 0.0918355276292423,
648
+ 0.03379282127302976
649
+ ]
650
+ }
651
+ },
652
+ "grasp_17": {
653
+ "confidence": 0.976498007774353,
654
+ "position": [
655
+ 0.05202788198948838,
656
+ 0.07925595708366018,
657
+ 0.07866018754430115
658
+ ],
659
+ "orientation": {
660
+ "w": 0.18647282061200246,
661
+ "xyz": [
662
+ -0.2277153716335011,
663
+ -0.7280444670577721,
664
+ 0.6191323369695572
665
+ ]
666
+ }
667
+ },
668
+ "grasp_18": {
669
+ "confidence": 0.9758296012878418,
670
+ "position": [
671
+ -0.051574154844274744,
672
+ 0.08156922824855428,
673
+ 0.07696679723449051
674
+ ],
675
+ "orientation": {
676
+ "w": 0.22270913425668387,
677
+ "xyz": [
678
+ -0.17409551417784622,
679
+ 0.7162948222231921,
680
+ -0.637975799790271
681
+ ]
682
+ }
683
+ },
684
+ "grasp_19": {
685
+ "confidence": 0.9758224487304688,
686
+ "position": [
687
+ -0.04633447070955299,
688
+ 0.08751711614604574,
689
+ 0.06231844541616738
690
+ ],
691
+ "orientation": {
692
+ "w": 0.21407548443000948,
693
+ "xyz": [
694
+ -0.10707160855819839,
695
+ 0.6991654989532257,
696
+ -0.6737024288811071
697
+ ]
698
+ }
699
+ }
700
+ }
701
+ }
702
+ ],
703
+ "quality_check": {
704
+ "success": true,
705
+ "message": "YES"
706
+ }
707
+ }
dataset/food/beverages/ab3ab037a77a56b1a2c687c55d72d6d7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e5150f97f571aeedd8507937eb50be5d7e2ba96058460e1e37895938e8996e7
3
+ size 3782392