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
45b8721
·
verified ·
1 Parent(s): c0531b5

Add asset kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/affordance_annot.json +709 -0
  3. dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7439,3 +7439,4 @@ dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/affordance/m
7439
  dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7440
  dataset/kitchen_supplies/tableware/f501153b7be45030b28a064ad47df542/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7441
  dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7439
  dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7440
  dataset/kitchen_supplies/tableware/f501153b7be45030b28a064ad47df542/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7441
  dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7442
+ dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/affordance_annot.json ADDED
@@ -0,0 +1,709 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "grinder body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body to pick up and move the pepper grinder",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body while twisting the top to grind pepper",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the body to stabilize the grinder over food",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain peppercorns",
24
+ "support twisting during grinding",
25
+ "stabilize the grinder",
26
+ "provide structural body"
27
+ ],
28
+ "semantic_description": "The main body is a medium-sized light brown wooden section with a satin to matte finish, hard smooth fine-grained texture, and a gently waisted cylindrical shape forming the lower and central portion of the grinder.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.8525288701057434,
33
+ "position": [
34
+ -0.04027242318261415,
35
+ -0.10206424875650555,
36
+ 0.005281009536702186
37
+ ],
38
+ "orientation": {
39
+ "w": 0.6996894205228473,
40
+ "xyz": [
41
+ -0.6914050017845901,
42
+ 0.13447428038961273,
43
+ -0.11962652811709093
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.8493227362632751,
49
+ "position": [
50
+ 0.10237788676749915,
51
+ -0.03067036217544228,
52
+ -0.0023337085731327534
53
+ ],
54
+ "orientation": {
55
+ "w": 0.42217101940820584,
56
+ "xyz": [
57
+ 0.4173747591175291,
58
+ -0.5743642146533814,
59
+ -0.5636272613607558
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.8487511277198792,
65
+ "position": [
66
+ 0.029189434717409313,
67
+ -0.10691717697773129,
68
+ -0.001992980483919382
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6953224883876279,
72
+ "xyz": [
73
+ -0.7045010991779148,
74
+ -0.09289023502654814,
75
+ 0.10759294882221225
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.8461650609970093,
81
+ "position": [
82
+ 0.026373605127446353,
83
+ -0.10770247562322766,
84
+ -0.017322446685284376
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6955269306141166,
88
+ "xyz": [
89
+ -0.7066349852742652,
90
+ -0.10073557111390707,
91
+ 0.08222913771467781
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.842843234539032,
97
+ "position": [
98
+ 0.10737456649076194,
99
+ -0.019018639461137354,
100
+ -0.008849459234625101
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5297657975251078,
104
+ "xyz": [
105
+ -0.5553443004731222,
106
+ -0.45066806230481005,
107
+ 0.45589385313144193
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.841606616973877,
113
+ "position": [
114
+ 0.023848778451792896,
115
+ -0.10539774282369763,
116
+ 0.013319090940058231
117
+ ],
118
+ "orientation": {
119
+ "w": 0.08015519336783415,
120
+ "xyz": [
121
+ 0.08006474526784456,
122
+ -0.6989635296621546,
123
+ -0.7061265932845063
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.8394569158554077,
129
+ "position": [
130
+ 0.011164953815750778,
131
+ -0.10947592987213284,
132
+ 0.001828754786401987
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7074400879436061,
136
+ "xyz": [
137
+ -0.7043186476685674,
138
+ -0.03090290404145113,
139
+ 0.05008767351822825
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.8376219868659973,
145
+ "position": [
146
+ 0.042599382693879306,
147
+ -0.10119698627386242,
148
+ 0.0016792104579508305
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6916437245083792,
152
+ "xyz": [
153
+ -0.6937594426695699,
154
+ -0.1362576984863182,
155
+ 0.1475148591098414
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.8368799686431885,
161
+ "position": [
162
+ 0.03375772282015532,
163
+ -0.10205811692867428,
164
+ 3.1461939215660095e-05
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7046032332270606,
168
+ "xyz": [
169
+ -0.6899951210025584,
170
+ -0.10836624055947341,
171
+ 0.1252907603362801
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.8368304967880249,
177
+ "position": [
178
+ 0.03836285218130797,
179
+ -0.10362176282797009,
180
+ 0.009804829489439726
181
+ ],
182
+ "orientation": {
183
+ "w": 0.12606220594881773,
184
+ "xyz": [
185
+ 0.12334624766573628,
186
+ -0.6977423379406179,
187
+ -0.6942979571216239
188
+ ]
189
+ }
190
+ },
191
+ "grasp_30": {
192
+ "confidence": 0.8367096185684204,
193
+ "position": [
194
+ 0.05438834324013442,
195
+ -0.09472161217126995,
196
+ -0.02358484221622348
197
+ ],
198
+ "orientation": {
199
+ "w": 0.19057944648738936,
200
+ "xyz": [
201
+ 0.17208242373761512,
202
+ -0.6841325805342676,
203
+ -0.6826636992463213
204
+ ]
205
+ }
206
+ },
207
+ "grasp_31": {
208
+ "confidence": 0.8363990187644958,
209
+ "position": [
210
+ 0.03862487792503089,
211
+ -0.10466815216932446,
212
+ -0.001778632402420044
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6950665411471311,
216
+ "xyz": [
217
+ -0.6969487112494002,
218
+ -0.11666742551098463,
219
+ 0.13241491264281025
220
+ ]
221
+ }
222
+ },
223
+ "grasp_32": {
224
+ "confidence": 0.8361009955406189,
225
+ "position": [
226
+ 0.03240509226452559,
227
+ -0.10701986087951809,
228
+ -0.00450175954028964
229
+ ],
230
+ "orientation": {
231
+ "w": 0.10233214597959127,
232
+ "xyz": [
233
+ 0.10293138671309951,
234
+ -0.7031983816744671,
235
+ -0.6960210467643496
236
+ ]
237
+ }
238
+ },
239
+ "grasp_33": {
240
+ "confidence": 0.8340857625007629,
241
+ "position": [
242
+ 0.10266371339093894,
243
+ -0.0315900711575523,
244
+ -0.010330682154744864
245
+ ],
246
+ "orientation": {
247
+ "w": 0.4239893711898754,
248
+ "xyz": [
249
+ 0.41614042741825114,
250
+ -0.5803033056394229,
251
+ -0.5570531673459257
252
+ ]
253
+ }
254
+ },
255
+ "grasp_34": {
256
+ "confidence": 0.8309077620506287,
257
+ "position": [
258
+ 0.04946118115913123,
259
+ -0.0990719540277496,
260
+ -0.008356863167136908
261
+ ],
262
+ "orientation": {
263
+ "w": 0.6761451946760176,
264
+ "xyz": [
265
+ -0.6973742950988945,
266
+ -0.15973467618842463,
267
+ 0.1760159125614203
268
+ ]
269
+ }
270
+ },
271
+ "grasp_35": {
272
+ "confidence": 0.8304961323738098,
273
+ "position": [
274
+ 0.04623868584167212,
275
+ -0.09873137308750302,
276
+ -0.016979708801954985
277
+ ],
278
+ "orientation": {
279
+ "w": 0.16964540106305276,
280
+ "xyz": [
281
+ 0.14171903531364155,
282
+ -0.6922822279781339,
283
+ -0.686936292354362
284
+ ]
285
+ }
286
+ },
287
+ "grasp_36": {
288
+ "confidence": 0.8294073939323425,
289
+ "position": [
290
+ 0.024328025872819126,
291
+ -0.10417310579214245,
292
+ -0.0064720227383077145
293
+ ],
294
+ "orientation": {
295
+ "w": 0.6983600637446252,
296
+ "xyz": [
297
+ -0.7047690756010481,
298
+ -0.0864203439512865,
299
+ 0.09014042153433709
300
+ ]
301
+ }
302
+ },
303
+ "grasp_37": {
304
+ "confidence": 0.827178955078125,
305
+ "position": [
306
+ 0.006606895825825632,
307
+ -0.10885044618044049,
308
+ -0.002692940179258585
309
+ ],
310
+ "orientation": {
311
+ "w": 0.007270466602221165,
312
+ "xyz": [
313
+ 0.030057160941672913,
314
+ -0.705424872338423,
315
+ -0.7081097774200215
316
+ ]
317
+ }
318
+ },
319
+ "grasp_38": {
320
+ "confidence": 0.8268242478370667,
321
+ "position": [
322
+ 0.030849658767692745,
323
+ -0.10234279616270214,
324
+ 0.013471303973346949
325
+ ],
326
+ "orientation": {
327
+ "w": 0.0953562617916026,
328
+ "xyz": [
329
+ 0.1069141697638083,
330
+ -0.6981812888274023,
331
+ -0.7014409679881511
332
+ ]
333
+ }
334
+ },
335
+ "grasp_39": {
336
+ "confidence": 0.8265364766120911,
337
+ "position": [
338
+ -0.04130281612742692,
339
+ -0.10126859380397946,
340
+ -0.003241699654608965
341
+ ],
342
+ "orientation": {
343
+ "w": 0.1407529041636463,
344
+ "xyz": [
345
+ 0.15213537885308787,
346
+ 0.6965790608604783,
347
+ 0.6868923193932656
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "top cap",
355
+ "mask_color": "Red",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the top cap to twist it against the body for grinding",
360
+ "confidence": 0.89
361
+ },
362
+ {
363
+ "scenario": "hold the top cap to orient or reposition the grinder",
364
+ "confidence": 0.68
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "twist to operate grinder",
369
+ "cover the upper mechanism",
370
+ "provide upper handhold",
371
+ "transmit torque for grinding"
372
+ ],
373
+ "semantic_description": "The top cap is a rounded light brown wooden piece with a smooth satin finish and visible wood grain, forming the bulbous upper section above the narrow seam.",
374
+ "id": 0,
375
+ "grasp_group": {
376
+ "grasp_0": {
377
+ "confidence": 0.5506424307823181,
378
+ "position": [
379
+ -0.03770244598854333,
380
+ 0.10258994565811008,
381
+ 0.04932415718212724
382
+ ],
383
+ "orientation": {
384
+ "w": 0.11468566651793763,
385
+ "xyz": [
386
+ -0.1407127955210754,
387
+ 0.6923972248714347,
388
+ -0.6983073750593758
389
+ ]
390
+ }
391
+ },
392
+ "grasp_2": {
393
+ "confidence": 0.5010042190551758,
394
+ "position": [
395
+ 0.09055209427606314,
396
+ -0.06759043468628079,
397
+ 0.048416892532259226
398
+ ],
399
+ "orientation": {
400
+ "w": 0.3308943247328873,
401
+ "xyz": [
402
+ 0.3092170257253525,
403
+ -0.6305939014227849,
404
+ -0.6302738360026733
405
+ ]
406
+ }
407
+ },
408
+ "grasp_3": {
409
+ "confidence": 0.4987601935863495,
410
+ "position": [
411
+ 0.035937446053139865,
412
+ -0.10826854093465954,
413
+ 0.05428333068266511
414
+ ],
415
+ "orientation": {
416
+ "w": 0.11583723365445253,
417
+ "xyz": [
418
+ 0.10698657449656829,
419
+ -0.6896570303906414,
420
+ -0.7067593569310108
421
+ ]
422
+ }
423
+ },
424
+ "grasp_4": {
425
+ "confidence": 0.48835381865501404,
426
+ "position": [
427
+ 0.009089357103221118,
428
+ -0.11116676463279873,
429
+ 0.0498706647194922
430
+ ],
431
+ "orientation": {
432
+ "w": 0.7074861784247339,
433
+ "xyz": [
434
+ -0.7053494640022755,
435
+ -0.027039349997073137,
436
+ 0.03484701596126001
437
+ ]
438
+ }
439
+ },
440
+ "grasp_5": {
441
+ "confidence": 0.47863489389419556,
442
+ "position": [
443
+ 0.08999474614392966,
444
+ -0.059283454553224146,
445
+ 0.05083007970824838
446
+ ],
447
+ "orientation": {
448
+ "w": 0.3423807502687148,
449
+ "xyz": [
450
+ 0.3321645862237161,
451
+ -0.6320476173668214,
452
+ -0.6107028073336355
453
+ ]
454
+ }
455
+ },
456
+ "grasp_6": {
457
+ "confidence": 0.4629214107990265,
458
+ "position": [
459
+ 0.05418972938787192,
460
+ -0.09261228574905545,
461
+ 0.04996974254027009
462
+ ],
463
+ "orientation": {
464
+ "w": 0.18328211519948043,
465
+ "xyz": [
466
+ 0.1756008785594145,
467
+ -0.6823829603387057,
468
+ -0.6855111181713612
469
+ ]
470
+ }
471
+ },
472
+ "grasp_7": {
473
+ "confidence": 0.45260089635849,
474
+ "position": [
475
+ -0.030167454038746655,
476
+ 0.10262677387800068,
477
+ 0.050734537187963724
478
+ ],
479
+ "orientation": {
480
+ "w": 0.08972335979482907,
481
+ "xyz": [
482
+ -0.11288934790575754,
483
+ 0.7050324160648404,
484
+ -0.6943594214341116
485
+ ]
486
+ }
487
+ },
488
+ "grasp_8": {
489
+ "confidence": 0.4501834213733673,
490
+ "position": [
491
+ 0.009456366184167564,
492
+ -0.10932374431286007,
493
+ 0.05067153135314584
494
+ ],
495
+ "orientation": {
496
+ "w": 0.7134216422026757,
497
+ "xyz": [
498
+ -0.6980728917040666,
499
+ -0.038427578079080815,
500
+ 0.04740379254591787
501
+ ]
502
+ }
503
+ },
504
+ "grasp_10": {
505
+ "confidence": 0.4421387016773224,
506
+ "position": [
507
+ 0.06021957739721984,
508
+ 0.08868995623197407,
509
+ 0.06130463117733598
510
+ ],
511
+ "orientation": {
512
+ "w": 0.20637793720202785,
513
+ "xyz": [
514
+ -0.21498268021013817,
515
+ -0.6753037696649525,
516
+ 0.6746520680485651
517
+ ]
518
+ }
519
+ },
520
+ "grasp_12": {
521
+ "confidence": 0.4276764392852783,
522
+ "position": [
523
+ -0.08108794421423227,
524
+ 0.06726722733583301,
525
+ 0.048185782972723246
526
+ ],
527
+ "orientation": {
528
+ "w": 0.6522869808944215,
529
+ "xyz": [
530
+ 0.6232695039404273,
531
+ 0.3100457594380278,
532
+ 0.29988072140101074
533
+ ]
534
+ }
535
+ },
536
+ "grasp_13": {
537
+ "confidence": 0.4260903596878052,
538
+ "position": [
539
+ -0.04464665905106813,
540
+ -0.09695274068508297,
541
+ 0.054264521691948175
542
+ ],
543
+ "orientation": {
544
+ "w": 0.6868280241943384,
545
+ "xyz": [
546
+ -0.6911287335691767,
547
+ 0.15463933406408403,
548
+ -0.16338609235973367
549
+ ]
550
+ }
551
+ },
552
+ "grasp_15": {
553
+ "confidence": 0.418216347694397,
554
+ "position": [
555
+ -0.09897704899776727,
556
+ -0.055467304424382746,
557
+ 0.0531312027014792
558
+ ],
559
+ "orientation": {
560
+ "w": 0.6163128204480426,
561
+ "xyz": [
562
+ -0.6027235504822847,
563
+ 0.3563234241800691,
564
+ -0.36043924096302066
565
+ ]
566
+ }
567
+ },
568
+ "grasp_16": {
569
+ "confidence": 0.416856974363327,
570
+ "position": [
571
+ 0.07249182730447501,
572
+ 0.078508380218409,
573
+ 0.051944947335869074
574
+ ],
575
+ "orientation": {
576
+ "w": 0.2516963386810354,
577
+ "xyz": [
578
+ -0.2578291581728116,
579
+ -0.6517667401941737,
580
+ 0.6673628658137347
581
+ ]
582
+ }
583
+ },
584
+ "grasp_17": {
585
+ "confidence": 0.4160400927066803,
586
+ "position": [
587
+ 0.06401921331416816,
588
+ 0.08665068761911243,
589
+ 0.06584943691268563
590
+ ],
591
+ "orientation": {
592
+ "w": 0.21920940943710435,
593
+ "xyz": [
594
+ -0.22977640851412995,
595
+ -0.6674660314414618,
596
+ 0.6735273816084756
597
+ ]
598
+ }
599
+ },
600
+ "grasp_19": {
601
+ "confidence": 0.41466957330703735,
602
+ "position": [
603
+ -0.05921807244885713,
604
+ 0.09102367179002613,
605
+ 0.06257632980123162
606
+ ],
607
+ "orientation": {
608
+ "w": 0.18721610684454834,
609
+ "xyz": [
610
+ -0.21734186544267528,
611
+ 0.6875395805607429,
612
+ -0.6670846783027071
613
+ ]
614
+ }
615
+ }
616
+ }
617
+ },
618
+ {
619
+ "part_name": "adjustment knob",
620
+ "mask_color": "Yellow",
621
+ "graspable": true,
622
+ "grasp_scenarios": [
623
+ {
624
+ "scenario": "pinch the small top knob to adjust grind coarseness",
625
+ "confidence": 0.74
626
+ },
627
+ {
628
+ "scenario": "delicately grasp the knob to aid top-side manipulation",
629
+ "confidence": 0.33
630
+ }
631
+ ],
632
+ "functional_labels": [
633
+ "adjust grind setting",
634
+ "secure top assembly",
635
+ "indicate top center"
636
+ ],
637
+ "semantic_description": "The adjustment knob is a small silver-gray metal piece with a reflective smooth finish and compact round shape, mounted at the very top center of the grinder.",
638
+ "id": 3,
639
+ "grasp_group": {
640
+ "grasp_47": {
641
+ "confidence": 0.2403019368648529,
642
+ "position": [
643
+ -0.04053494438994676,
644
+ 0.027946657850407064,
645
+ 0.173521610442549
646
+ ],
647
+ "orientation": {
648
+ "w": 0.2185831384444454,
649
+ "xyz": [
650
+ 0.8170074473027968,
651
+ 0.5227840307136726,
652
+ 0.10685082999354605
653
+ ]
654
+ }
655
+ },
656
+ "grasp_48": {
657
+ "confidence": 0.1657591015100479,
658
+ "position": [
659
+ 0.011040302808396518,
660
+ 0.04719998629298061,
661
+ 0.17346121603623033
662
+ ],
663
+ "orientation": {
664
+ "w": 0.24118340267002294,
665
+ "xyz": [
666
+ 0.9694764788461175,
667
+ 0.023086263072225832,
668
+ -0.037589196559690015
669
+ ]
670
+ }
671
+ },
672
+ "grasp_54": {
673
+ "confidence": 0.12582603096961975,
674
+ "position": [
675
+ -0.02742023125756532,
676
+ 0.00573332782369107,
677
+ 0.19977987045422196
678
+ ],
679
+ "orientation": {
680
+ "w": 0.10752053080430359,
681
+ "xyz": [
682
+ 0.5809478695625584,
683
+ 0.805880994913978,
684
+ 0.038661742624237765
685
+ ]
686
+ }
687
+ }
688
+ }
689
+ },
690
+ {
691
+ "part_name": "seam ring",
692
+ "mask_color": "Blue",
693
+ "graspable": false,
694
+ "grasp_scenarios": [],
695
+ "functional_labels": [
696
+ "separate top and body",
697
+ "mark twisting joint",
698
+ "connect upper and lower sections"
699
+ ],
700
+ "semantic_description": "The seam ring is a very thin dark band encircling the grinder near the top-body junction, appearing as a narrow recessed joint line between the wooden sections.",
701
+ "id": 2,
702
+ "grasp_group": {}
703
+ }
704
+ ],
705
+ "quality_check": {
706
+ "success": true,
707
+ "message": "YES"
708
+ }
709
+ }
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f68d7b15a2c9275631c153946be1be7a581873521b24b59acce5456af59b23ed
3
+ size 1825384