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
fdd640d
·
verified ·
1 Parent(s): 745f89b

Add asset desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/affordance_annot.json +718 -0
  3. dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/staples_box_036.urdf +1 -0
.gitattributes CHANGED
@@ -6561,3 +6561,4 @@ dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordanc
6561
  dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6562
  dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6563
  dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6561
  dataset/desktop_supplies/office_tools/3e5f25297f4a5a4280426d3c6d583ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6562
  dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6563
  dataset/desktop_supplies/office_tools/3f6eaa82eaeb512c86b1b59edb1f50fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6564
+ dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,718 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top lid to hold or reposition the case",
10
+ "confidence": 0.79
11
+ },
12
+ {
13
+ "scenario": "hold the lid while opening or closing the case",
14
+ "confidence": 0.68
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the contents",
19
+ "enable opening and closing",
20
+ "protect stored contents",
21
+ "provide a top contact surface"
22
+ ],
23
+ "semantic_description": "Rounded rectangular white plastic lid with a smooth matte to satin finish, forming the upper half of the small case.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9894306659698486,
28
+ "position": [
29
+ 0.003578422125428915,
30
+ 0.11736648101941682,
31
+ 0.01529544428922236
32
+ ],
33
+ "orientation": {
34
+ "w": 0.677104898674877,
35
+ "xyz": [
36
+ 0.7353063620967374,
37
+ -0.02915425531876148,
38
+ -0.0018813419027284958
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9883771538734436,
44
+ "position": [
45
+ 0.0012419091654010117,
46
+ 0.11935180742875673,
47
+ 0.022399357752874494
48
+ ],
49
+ "orientation": {
50
+ "w": 0.025706989684931274,
51
+ "xyz": [
52
+ 0.0016726753865531061,
53
+ -0.7546646939654936,
54
+ 0.6556047227715478
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9871557950973511,
60
+ "position": [
61
+ -9.685754776000977e-05,
62
+ 0.1158222513331566,
63
+ 0.010418411577120423
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6956891025939215,
67
+ "xyz": [
68
+ 0.7183417878711208,
69
+ -0.0012995111378042434,
70
+ -0.00024413313809665415
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9871057271957397,
76
+ "position": [
77
+ 0.0021019300911575556,
78
+ 0.12152717579738237,
79
+ 0.0071495764423161745
80
+ ],
81
+ "orientation": {
82
+ "w": 0.701781463909571,
83
+ "xyz": [
84
+ 0.7122153766662128,
85
+ -0.015672465751238374,
86
+ 0.002531396930658678
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9846024513244629,
92
+ "position": [
93
+ -0.0006825270829722285,
94
+ -0.11813153009279631,
95
+ 0.007230294169858098
96
+ ],
97
+ "orientation": {
98
+ "w": 0.7061108248486904,
99
+ "xyz": [
100
+ -0.707091735234545,
101
+ -0.019226474790295378,
102
+ -0.03254418015007828
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9840980172157288,
108
+ "position": [
109
+ 0.002027125214226544,
110
+ 0.1187918888463173,
111
+ 0.009965637000277638
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6934154698799351,
115
+ "xyz": [
116
+ 0.7201533968311984,
117
+ -0.008960842331610097,
118
+ 0.021766360935710993
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.9833126664161682,
124
+ "position": [
125
+ -0.0008023054106160998,
126
+ -0.11880854945047759,
127
+ 0.0032619619742035866
128
+ ],
129
+ "orientation": {
130
+ "w": 0.7255192949919136,
131
+ "xyz": [
132
+ -0.6877884731488088,
133
+ -0.012517733151402144,
134
+ -0.020299634351828185
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9792125225067139,
140
+ "position": [
141
+ -0.0008880173554643989,
142
+ 0.09683580268756486,
143
+ 0.057831549318507314
144
+ ],
145
+ "orientation": {
146
+ "w": 0.03128883677224852,
147
+ "xyz": [
148
+ 0.03275783347120845,
149
+ 0.8601468207944856,
150
+ -0.508030884609244
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9789249897003174,
156
+ "position": [
157
+ 0.005736681167036295,
158
+ 0.11355801243917085,
159
+ 0.016208644257858396
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6808968110055129,
163
+ "xyz": [
164
+ 0.731322811976607,
165
+ -0.039323557369617235,
166
+ -0.00036780558662363624
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9733960032463074,
172
+ "position": [
173
+ 0.0028371084481477737,
174
+ -0.11977433096035384,
175
+ 0.0039055394008755684
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7262584091359502,
179
+ "xyz": [
180
+ -0.6870004191490511,
181
+ -0.016294682262756877,
182
+ -0.017709618242709047
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.971293568611145,
188
+ "position": [
189
+ 0.002964794635772705,
190
+ -0.11763167064054869,
191
+ 0.003508674679324031
192
+ ],
193
+ "orientation": {
194
+ "w": 0.7284515821303336,
195
+ "xyz": [
196
+ -0.6847030376003171,
197
+ -0.010898575910413655,
198
+ -0.020524712807684965
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.970963716506958,
204
+ "position": [
205
+ 0.0020364116644486785,
206
+ -0.12211528103216551,
207
+ 0.0015004873857833445
208
+ ],
209
+ "orientation": {
210
+ "w": 0.722891276571154,
211
+ "xyz": [
212
+ -0.6901488835228536,
213
+ -0.01492947212907958,
214
+ -0.029997194726049635
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.9595166444778442,
220
+ "position": [
221
+ 0.0009664057288318872,
222
+ -0.11058333943947218,
223
+ 0.006407940527424216
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7205332533059392,
227
+ "xyz": [
228
+ -0.6929098483440468,
229
+ -0.010684483097629371,
230
+ -0.02436421082500896
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.956153392791748,
236
+ "position": [
237
+ -0.005396159365773201,
238
+ -0.10790377538069151,
239
+ 0.054171399446204305
240
+ ],
241
+ "orientation": {
242
+ "w": 0.027207074717070796,
243
+ "xyz": [
244
+ 0.06310730151984627,
245
+ 0.8539345288668314,
246
+ 0.5158227059651461
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.9549671411514282,
252
+ "position": [
253
+ 0.00658476073294878,
254
+ 0.11550748665467836,
255
+ 0.012381490552797914
256
+ ],
257
+ "orientation": {
258
+ "w": 0.6959454191222523,
259
+ "xyz": [
260
+ 0.717935360197394,
261
+ -0.009580402656657272,
262
+ 0.011705044464963538
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.9507336020469666,
268
+ "position": [
269
+ 0.0014937500236555934,
270
+ 0.10059479941264726,
271
+ 0.05404810723848641
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5215600748331174,
275
+ "xyz": [
276
+ 0.8531085583204306,
277
+ 0.00379624224024,
278
+ 0.012902116313343778
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9497791528701782,
284
+ "position": [
285
+ 0.02742837043479085,
286
+ -0.10704318116768263,
287
+ 0.00023543776478618383
288
+ ],
289
+ "orientation": {
290
+ "w": 0.7357953102130185,
291
+ "xyz": [
292
+ -0.6630754625170154,
293
+ -0.13285963480722462,
294
+ 0.03584006020174698
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.9458048343658447,
300
+ "position": [
301
+ 0.0024361521936953068,
302
+ 0.11023527701036073,
303
+ 0.013363717356696725
304
+ ],
305
+ "orientation": {
306
+ "w": 0.683202879075444,
307
+ "xyz": [
308
+ 0.7301651818943529,
309
+ 0.0004694075654911867,
310
+ 0.009613159145061804
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.942787766456604,
316
+ "position": [
317
+ -0.010706221219152212,
318
+ -0.12008041571243666,
319
+ 0.014520859578624368
320
+ ],
321
+ "orientation": {
322
+ "w": 0.0966098933750922,
323
+ "xyz": [
324
+ 0.012083714322825633,
325
+ 0.7217385823265061,
326
+ 0.6852838325333105
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.9362329840660095,
332
+ "position": [
333
+ 0.0037047304213047028,
334
+ -0.107883710967144,
335
+ 0.0016750709037296474
336
+ ],
337
+ "orientation": {
338
+ "w": 0.7303566682660292,
339
+ "xyz": [
340
+ -0.682659755196919,
341
+ -0.013273879679191358,
342
+ -0.01945764302505858
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "base",
350
+ "mask_color": "Green",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp the base from the sides to pick up the case",
355
+ "confidence": 0.9
356
+ },
357
+ {
358
+ "scenario": "hold the base steady while the lid is manipulated",
359
+ "confidence": 0.9
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "contain contents",
364
+ "support the object",
365
+ "provide the main grasping body",
366
+ "stabilize the case on a surface"
367
+ ],
368
+ "semantic_description": "Rounded rectangular white plastic lower body with a smooth matte finish, slightly deeper than the lid, positioned as the bottom half and printed with blue KOKUYO branding on the side.",
369
+ "id": 1,
370
+ "grasp_group": {
371
+ "grasp_20": {
372
+ "confidence": 0.9909868836402893,
373
+ "position": [
374
+ -0.00679918983951211,
375
+ -0.11509725879295729,
376
+ -0.002932892879471183
377
+ ],
378
+ "orientation": {
379
+ "w": 0.7154435279086061,
380
+ "xyz": [
381
+ -0.6976849620379659,
382
+ 0.003723025141023517,
383
+ -0.03691058389634187
384
+ ]
385
+ }
386
+ },
387
+ "grasp_21": {
388
+ "confidence": 0.990486204624176,
389
+ "position": [
390
+ -0.0002480944967828691,
391
+ -0.11891852747066878,
392
+ -0.004919931059703231
393
+ ],
394
+ "orientation": {
395
+ "w": 0.7123701122750258,
396
+ "xyz": [
397
+ -0.7009883439346674,
398
+ -0.019423791652497524,
399
+ -0.027692618562345506
400
+ ]
401
+ }
402
+ },
403
+ "grasp_22": {
404
+ "confidence": 0.9901280999183655,
405
+ "position": [
406
+ 0.0018972894176840782,
407
+ 0.11852950920001604,
408
+ 0.0009360155017930083
409
+ ],
410
+ "orientation": {
411
+ "w": 0.7019982541475632,
412
+ "xyz": [
413
+ 0.7118853450547113,
414
+ -0.016518372067736098,
415
+ 0.012035366813668218
416
+ ]
417
+ }
418
+ },
419
+ "grasp_23": {
420
+ "confidence": 0.9895164370536804,
421
+ "position": [
422
+ -0.0004487066762521863,
423
+ -0.12129393647774123,
424
+ 0.0010742242084234022
425
+ ],
426
+ "orientation": {
427
+ "w": 0.6982074426452246,
428
+ "xyz": [
429
+ -0.7138087796619255,
430
+ -0.03623549412138283,
431
+ -0.04087030802608547
432
+ ]
433
+ }
434
+ },
435
+ "grasp_24": {
436
+ "confidence": 0.9894413948059082,
437
+ "position": [
438
+ -0.00032893981551751494,
439
+ -0.12065670322044753,
440
+ -0.0003112743142992258
441
+ ],
442
+ "orientation": {
443
+ "w": 0.7078698618457833,
444
+ "xyz": [
445
+ -0.7057903446087817,
446
+ 0.015519885259062338,
447
+ 0.023224584151159824
448
+ ]
449
+ }
450
+ },
451
+ "grasp_25": {
452
+ "confidence": 0.9893112778663635,
453
+ "position": [
454
+ -0.0019791764207184315,
455
+ 0.12032824326888658,
456
+ 0.0018252510926686227
457
+ ],
458
+ "orientation": {
459
+ "w": 0.7013391929417665,
460
+ "xyz": [
461
+ 0.7127243072001759,
462
+ -0.006880032112453249,
463
+ 0.010003175893302694
464
+ ]
465
+ }
466
+ },
467
+ "grasp_26": {
468
+ "confidence": 0.98846834897995,
469
+ "position": [
470
+ -0.0016672799829393625,
471
+ 0.11407099236384965,
472
+ 0.0008096598176052794
473
+ ],
474
+ "orientation": {
475
+ "w": 0.6999574682711729,
476
+ "xyz": [
477
+ 0.7140546465564175,
478
+ -0.00960889964157019,
479
+ 0.009652636441828953
480
+ ]
481
+ }
482
+ },
483
+ "grasp_27": {
484
+ "confidence": 0.98812335729599,
485
+ "position": [
486
+ -0.0006397434044629335,
487
+ -0.11640143822296523,
488
+ -0.004449192201718688
489
+ ],
490
+ "orientation": {
491
+ "w": 0.7237612223448782,
492
+ "xyz": [
493
+ -0.689858883984233,
494
+ -0.0008027474503584653,
495
+ -0.016240961006276013
496
+ ]
497
+ }
498
+ },
499
+ "grasp_28": {
500
+ "confidence": 0.9873491525650024,
501
+ "position": [
502
+ -0.002645001281052828,
503
+ -0.11608959417208098,
504
+ -0.0021086859051138163
505
+ ],
506
+ "orientation": {
507
+ "w": 0.039700035306499105,
508
+ "xyz": [
509
+ -0.0049707172912481995,
510
+ 0.7014667034432284,
511
+ 0.7115782902300796
512
+ ]
513
+ }
514
+ },
515
+ "grasp_29": {
516
+ "confidence": 0.9869877099990845,
517
+ "position": [
518
+ 0.002486124634742737,
519
+ -0.11715446095331572,
520
+ -0.0038802369963377714
521
+ ],
522
+ "orientation": {
523
+ "w": 0.7118562098963451,
524
+ "xyz": [
525
+ -0.7014660470027838,
526
+ -0.02100727578331607,
527
+ -0.027655301453113894
528
+ ]
529
+ }
530
+ },
531
+ "grasp_30": {
532
+ "confidence": 0.9869066476821899,
533
+ "position": [
534
+ 0.00248905667103827,
535
+ 0.122052210761467,
536
+ 0.0024458549451082945
537
+ ],
538
+ "orientation": {
539
+ "w": 0.6994267142935189,
540
+ "xyz": [
541
+ 0.7141486766434232,
542
+ -0.019467061208305547,
543
+ 0.02037087403456463
544
+ ]
545
+ }
546
+ },
547
+ "grasp_32": {
548
+ "confidence": 0.9866198301315308,
549
+ "position": [
550
+ 0.0005928740138188004,
551
+ 0.1140192778839264,
552
+ 0.001346289529465139
553
+ ],
554
+ "orientation": {
555
+ "w": 0.7010832976180903,
556
+ "xyz": [
557
+ 0.7129198506861151,
558
+ -0.010189995056706258,
559
+ 0.011120265256541292
560
+ ]
561
+ }
562
+ },
563
+ "grasp_33": {
564
+ "confidence": 0.9864793419837952,
565
+ "position": [
566
+ 0.0018142452463507652,
567
+ -0.11677993516786955,
568
+ -0.01019002660177648
569
+ ],
570
+ "orientation": {
571
+ "w": 0.7166421817236306,
572
+ "xyz": [
573
+ -0.6967890554558406,
574
+ -0.015058248622565662,
575
+ -0.026119814696387307
576
+ ]
577
+ }
578
+ },
579
+ "grasp_34": {
580
+ "confidence": 0.9862964153289795,
581
+ "position": [
582
+ 0.0021734569454565644,
583
+ -0.12133993636234663,
584
+ -0.0019294775556772947
585
+ ],
586
+ "orientation": {
587
+ "w": 0.702416082228603,
588
+ "xyz": [
589
+ -0.7094789971353394,
590
+ -0.04090931080188831,
591
+ -0.03971936983599291
592
+ ]
593
+ }
594
+ },
595
+ "grasp_35": {
596
+ "confidence": 0.9860936403274536,
597
+ "position": [
598
+ 0.004366481211036444,
599
+ 0.09183644075528719,
600
+ -0.0621332551818341
601
+ ],
602
+ "orientation": {
603
+ "w": 0.8812071895768456,
604
+ "xyz": [
605
+ 0.4716715480705835,
606
+ -0.028009031621593405,
607
+ 0.014674260676342515
608
+ ]
609
+ }
610
+ },
611
+ "grasp_36": {
612
+ "confidence": 0.986081600189209,
613
+ "position": [
614
+ 0.004719916265457869,
615
+ 0.09766684044734575,
616
+ -0.05848406138829887
617
+ ],
618
+ "orientation": {
619
+ "w": 0.036210200602795985,
620
+ "xyz": [
621
+ 0.03448254917831285,
622
+ 0.48909150814361313,
623
+ -0.8707980660499172
624
+ ]
625
+ }
626
+ },
627
+ "grasp_37": {
628
+ "confidence": 0.9856606721878052,
629
+ "position": [
630
+ 0.001900579547509551,
631
+ -0.10280698965652846,
632
+ -0.05891862395219505
633
+ ],
634
+ "orientation": {
635
+ "w": 0.8699811740893406,
636
+ "xyz": [
637
+ -0.4929462730459653,
638
+ 0.0017767530221620698,
639
+ -0.011557325336066638
640
+ ]
641
+ }
642
+ },
643
+ "grasp_39": {
644
+ "confidence": 0.9853944778442383,
645
+ "position": [
646
+ -0.0031209844164550304,
647
+ -0.11754380594356917,
648
+ -0.002136608585715294
649
+ ],
650
+ "orientation": {
651
+ "w": 0.04986942139853677,
652
+ "xyz": [
653
+ -0.004834267489736276,
654
+ 0.7002722974740024,
655
+ 0.7121154260776092
656
+ ]
657
+ }
658
+ }
659
+ }
660
+ },
661
+ {
662
+ "part_name": "top slider",
663
+ "mask_color": "Yellow",
664
+ "graspable": true,
665
+ "grasp_scenarios": [
666
+ {
667
+ "scenario": "pinch the raised top slider to actuate or slide the opening feature",
668
+ "confidence": 0.77
669
+ },
670
+ {
671
+ "scenario": "use the raised slider as a small pull feature during opening",
672
+ "confidence": 0.63
673
+ }
674
+ ],
675
+ "functional_labels": [
676
+ "provide finger purchase",
677
+ "assist sliding or opening",
678
+ "indicate actuation area",
679
+ "support access to contents"
680
+ ],
681
+ "semantic_description": "Small raised translucent milky-white rectangular plastic slider on top of the lid, with a smooth satin finish and shallow ridged form.",
682
+ "id": 3,
683
+ "grasp_group": {}
684
+ },
685
+ {
686
+ "part_name": "lid seam band",
687
+ "mask_color": "Magenta",
688
+ "graspable": false,
689
+ "grasp_scenarios": [],
690
+ "functional_labels": [
691
+ "define the separation between lid and base",
692
+ "mark the closure interface",
693
+ "guide lid alignment"
694
+ ],
695
+ "semantic_description": "Thin narrow white band running around the perimeter between the lid and base, visible as a fine seam line.",
696
+ "id": 7,
697
+ "grasp_group": {}
698
+ },
699
+ {
700
+ "part_name": "lower closure rim",
701
+ "mask_color": "Lime Green",
702
+ "graspable": false,
703
+ "grasp_scenarios": [],
704
+ "functional_labels": [
705
+ "form the lower edge of the closure joint",
706
+ "support fit between upper and lower shell",
707
+ "provide edge transition above the base wall"
708
+ ],
709
+ "semantic_description": "Very thin pale yellowish-white rim directly below the seam band, visible as a narrow edge transition around the upper portion of the base.",
710
+ "id": 9,
711
+ "grasp_group": {}
712
+ }
713
+ ],
714
+ "quality_check": {
715
+ "success": false,
716
+ "message": "Top slider description incorrectly says ridged; visible functions for seam/rim are over-specific and uncertain."
717
+ }
718
+ }
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc887694bb298e932cb34447b72c1367f2b207cc559227a35a3e6d1c966a544a
3
+ size 3770936
dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/staples_box_036.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>