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
e0737b0
·
verified ·
1 Parent(s): 181cfc0

Add asset kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/affordance_annot.json +901 -0
  3. dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7541,4 +7541,4 @@ dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_p
7541
  dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7542
  dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7543
  dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7544
- dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7541
  dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7542
  dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7543
  dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7544
+ dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/affordance_annot.json ADDED
@@ -0,0 +1,901 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and carry the baby bottle",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body to stabilize it while attaching or removing the top assembly",
14
+ "confidence": 0.82
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain liquid",
19
+ "main grasp surface",
20
+ "support bottle structure",
21
+ "display printed information"
22
+ ],
23
+ "semantic_description": "Large white bottle body with a smooth semi-gloss plastic surface, rounded bulbous shape, slight pink gradient decoration, and printed branding/instructions on the sides.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_25": {
27
+ "confidence": 0.9427834153175354,
28
+ "position": [
29
+ 0.028572952141985297,
30
+ -0.08583647338673472,
31
+ -0.09812394436448812
32
+ ],
33
+ "orientation": {
34
+ "w": 0.9069360313594105,
35
+ "xyz": [
36
+ -0.4079464692731705,
37
+ -0.08621273589559064,
38
+ 0.060117197198416523
39
+ ]
40
+ }
41
+ },
42
+ "grasp_27": {
43
+ "confidence": 0.9426555633544922,
44
+ "position": [
45
+ 0.004142232937738299,
46
+ -0.08825696585699916,
47
+ -0.09942927118390799
48
+ ],
49
+ "orientation": {
50
+ "w": 0.9217280570175023,
51
+ "xyz": [
52
+ -0.3877970235036376,
53
+ -0.005542532893217156,
54
+ -0.0003712109726166629
55
+ ]
56
+ }
57
+ },
58
+ "grasp_29": {
59
+ "confidence": 0.9419888854026794,
60
+ "position": [
61
+ 0.02177084400318563,
62
+ -0.10245757130905986,
63
+ -0.0824341094121337
64
+ ],
65
+ "orientation": {
66
+ "w": 0.07201983573864428,
67
+ "xyz": [
68
+ 0.06544774171009418,
69
+ -0.5119281019373518,
70
+ -0.8534983039303872
71
+ ]
72
+ }
73
+ },
74
+ "grasp_31": {
75
+ "confidence": 0.9417863488197327,
76
+ "position": [
77
+ 0.010904784081503749,
78
+ -0.08122952608391643,
79
+ -0.10008736606687307
80
+ ],
81
+ "orientation": {
82
+ "w": 0.9123729390845103,
83
+ "xyz": [
84
+ -0.4082897160455836,
85
+ -0.029514233660177913,
86
+ 0.0020094300588707663
87
+ ]
88
+ }
89
+ },
90
+ "grasp_34": {
91
+ "confidence": 0.9413484334945679,
92
+ "position": [
93
+ 0.005822989856824279,
94
+ 0.018887114245444536,
95
+ -0.13466584589332342
96
+ ],
97
+ "orientation": {
98
+ "w": 0.9953578723091775,
99
+ "xyz": [
100
+ 0.09408549779826908,
101
+ -0.006205210965977925,
102
+ 0.0192904249063224
103
+ ]
104
+ }
105
+ }
106
+ }
107
+ },
108
+ {
109
+ "part_name": "side handle",
110
+ "mask_color": "Purple",
111
+ "graspable": true,
112
+ "grasp_scenarios": [
113
+ {
114
+ "scenario": "grasp one side handle to lift or reposition the bottle",
115
+ "confidence": 0.83
116
+ },
117
+ {
118
+ "scenario": "hold a handle to stabilize the bottle during manipulation",
119
+ "confidence": 0.77
120
+ }
121
+ ],
122
+ "functional_labels": [
123
+ "provide side grip",
124
+ "assist lifting",
125
+ "help stabilize the bottle",
126
+ "aid orientation"
127
+ ],
128
+ "semantic_description": "Curved pale pink to off-white plastic side handle with a smooth surface and hook-like loop shape attached near the neck on each side.",
129
+ "id": 5,
130
+ "grasp_group": {
131
+ "grasp_83": {
132
+ "confidence": 0.07952501624822617,
133
+ "position": [
134
+ -0.10117154964245856,
135
+ 0.0205797147937119,
136
+ 0.04456568229943514
137
+ ],
138
+ "orientation": {
139
+ "w": 0.4087404023994748,
140
+ "xyz": [
141
+ -0.4773493632934685,
142
+ 0.5754549919845117,
143
+ -0.5233740736889264
144
+ ]
145
+ }
146
+ },
147
+ "grasp_84": {
148
+ "confidence": 0.8426178693771362,
149
+ "position": [
150
+ 0.02822068682871759,
151
+ 0.14624134125187993,
152
+ -0.02947996836155653
153
+ ],
154
+ "orientation": {
155
+ "w": 0.0957682693017604,
156
+ "xyz": [
157
+ -0.09727270131973861,
158
+ -0.6335996482766292,
159
+ 0.7615234375097314
160
+ ]
161
+ }
162
+ },
163
+ "grasp_85": {
164
+ "confidence": 0.829921543598175,
165
+ "position": [
166
+ 0.03311732015572488,
167
+ 0.14431247534230351,
168
+ -0.031879923306405544
169
+ ],
170
+ "orientation": {
171
+ "w": 0.11307887994787136,
172
+ "xyz": [
173
+ -0.10646335694498463,
174
+ -0.6183188136799089,
175
+ 0.7704288190269173
176
+ ]
177
+ }
178
+ },
179
+ "grasp_86": {
180
+ "confidence": 0.7731570601463318,
181
+ "position": [
182
+ 0.005776375764980912,
183
+ -0.14023933885619044,
184
+ -0.0500660901889205
185
+ ],
186
+ "orientation": {
187
+ "w": 0.8425804257064554,
188
+ "xyz": [
189
+ -0.5372243063334762,
190
+ -0.027420094929304972,
191
+ -0.026389567918263333
192
+ ]
193
+ }
194
+ },
195
+ "grasp_89": {
196
+ "confidence": 0.5202812552452087,
197
+ "position": [
198
+ 0.0559306216891855,
199
+ -0.1340078222565353,
200
+ -0.00973150972276926
201
+ ],
202
+ "orientation": {
203
+ "w": 0.7424877515517697,
204
+ "xyz": [
205
+ -0.5886098456728335,
206
+ -0.3178424943694159,
207
+ 0.03502195233889905
208
+ ]
209
+ }
210
+ },
211
+ "grasp_90": {
212
+ "confidence": 0.4860427677631378,
213
+ "position": [
214
+ -0.059799723559990525,
215
+ 0.10865427227690816,
216
+ 0.06633458379656076
217
+ ],
218
+ "orientation": {
219
+ "w": 0.37366187400885886,
220
+ "xyz": [
221
+ 0.8629422271747937,
222
+ -0.05455440338316031,
223
+ 0.3357548712115757
224
+ ]
225
+ }
226
+ }
227
+ }
228
+ },
229
+ {
230
+ "part_name": "inner handle surface",
231
+ "mask_color": "Cyan",
232
+ "graspable": false,
233
+ "grasp_scenarios": [],
234
+ "functional_labels": [
235
+ "part of handle structure",
236
+ "provide inner contact surface",
237
+ "support handle shape"
238
+ ],
239
+ "semantic_description": "Small inner portion of each handle visible along the inside lower curve near the handle tip, not clearly distinguished as a separate material in the RGB image.",
240
+ "id": 6,
241
+ "grasp_group": {}
242
+ },
243
+ {
244
+ "part_name": "nipple",
245
+ "mask_color": "Yellow",
246
+ "graspable": true,
247
+ "grasp_scenarios": [
248
+ {
249
+ "scenario": "delicately grasp the nipple tip to orient the bottle during cleaning or assembly",
250
+ "confidence": 0.29
251
+ },
252
+ {
253
+ "scenario": "pinch the nipple to pull or inspect it during maintenance",
254
+ "confidence": 0.24
255
+ }
256
+ ],
257
+ "functional_labels": [
258
+ "dispense liquid",
259
+ "allow sucking",
260
+ "control fluid outlet",
261
+ "provide feeding interface"
262
+ ],
263
+ "semantic_description": "Small translucent milky-white silicone nipple with a soft smooth slightly glossy surface, rounded tapered shape, and centered position at the top.",
264
+ "id": 3,
265
+ "grasp_group": {
266
+ "grasp_52": {
267
+ "confidence": 0.9670909643173218,
268
+ "position": [
269
+ -0.009938327828422189,
270
+ -0.003227842040359974,
271
+ 0.1701947757974267
272
+ ],
273
+ "orientation": {
274
+ "w": 0.036305150436804996,
275
+ "xyz": [
276
+ 0.01534416749564005,
277
+ 0.9990321484021709,
278
+ 0.019525855540033502
279
+ ]
280
+ }
281
+ },
282
+ "grasp_55": {
283
+ "confidence": 0.9571180939674377,
284
+ "position": [
285
+ -0.004155857255682349,
286
+ -0.007126180920749903,
287
+ 0.16801890823990107
288
+ ],
289
+ "orientation": {
290
+ "w": 0.03694023066178572,
291
+ "xyz": [
292
+ -0.9992895375723362,
293
+ 0.0074589532167661995,
294
+ -0.00045108095786313643
295
+ ]
296
+ }
297
+ },
298
+ "grasp_56": {
299
+ "confidence": 0.9544577598571777,
300
+ "position": [
301
+ -0.0075039665680378675,
302
+ -0.023546454962342978,
303
+ 0.16473183128982782
304
+ ],
305
+ "orientation": {
306
+ "w": 0.056928435069498275,
307
+ "xyz": [
308
+ -0.1332526682370548,
309
+ 0.9847634709867819,
310
+ 0.09614460930446841
311
+ ]
312
+ }
313
+ },
314
+ "grasp_57": {
315
+ "confidence": 0.9536842107772827,
316
+ "position": [
317
+ 0.003478794125840068,
318
+ 0.01923512713983655,
319
+ 0.1653299191966653
320
+ ],
321
+ "orientation": {
322
+ "w": 0.09592206779756003,
323
+ "xyz": [
324
+ 0.9945681779190522,
325
+ 0.03506310774904159,
326
+ -0.02009166133489517
327
+ ]
328
+ }
329
+ },
330
+ "grasp_63": {
331
+ "confidence": 0.9466347694396973,
332
+ "position": [
333
+ 0.014615569962188601,
334
+ -0.02669852366670966,
335
+ 0.16054047737270594
336
+ ],
337
+ "orientation": {
338
+ "w": 0.13970512850530725,
339
+ "xyz": [
340
+ -0.9780159344139602,
341
+ 0.12948352660937446,
342
+ 0.08486062360425684
343
+ ]
344
+ }
345
+ },
346
+ "grasp_66": {
347
+ "confidence": 0.9443725347518921,
348
+ "position": [
349
+ -0.0194450078997761,
350
+ -5.072145722806454e-05,
351
+ 0.16639407072216272
352
+ ],
353
+ "orientation": {
354
+ "w": 0.10548430089164139,
355
+ "xyz": [
356
+ -0.12768964130426916,
357
+ 0.9857813306931688,
358
+ -0.02834758941770132
359
+ ]
360
+ }
361
+ },
362
+ "grasp_68": {
363
+ "confidence": 0.9432722926139832,
364
+ "position": [
365
+ -0.0008681105973664671,
366
+ -0.016212304588407278,
367
+ 0.16397826466709375
368
+ ],
369
+ "orientation": {
370
+ "w": 0.06247497801155201,
371
+ "xyz": [
372
+ -0.9755571642352819,
373
+ 0.2100653436293533,
374
+ 0.01605141232268799
375
+ ]
376
+ }
377
+ }
378
+ }
379
+ },
380
+ {
381
+ "part_name": "collar ring",
382
+ "mask_color": "Pink",
383
+ "graspable": true,
384
+ "grasp_scenarios": [
385
+ {
386
+ "scenario": "grasp the collar ring to twist or remove the top assembly",
387
+ "confidence": 0.74
388
+ },
389
+ {
390
+ "scenario": "hold the collar ring to steady the bottle while attaching parts",
391
+ "confidence": 0.63
392
+ }
393
+ ],
394
+ "functional_labels": [
395
+ "secure nipple assembly",
396
+ "connect top components",
397
+ "seal around the nipple base",
398
+ "provide twist interface"
399
+ ],
400
+ "semantic_description": "Wide light pink plastic ring directly below the nipple, with a smooth glossy hard surface and circular band shape around the bottle neck.",
401
+ "id": 8,
402
+ "grasp_group": {
403
+ "grasp_92": {
404
+ "confidence": 0.9069310426712036,
405
+ "position": [
406
+ -0.00549543253146112,
407
+ -0.09898940799757838,
408
+ 0.07869511190801859
409
+ ],
410
+ "orientation": {
411
+ "w": 0.5731636106291317,
412
+ "xyz": [
413
+ -0.8190828842874647,
414
+ 0.01898307679204503,
415
+ -0.015044830122407189
416
+ ]
417
+ }
418
+ },
419
+ "grasp_94": {
420
+ "confidence": 0.8606343269348145,
421
+ "position": [
422
+ -0.01436106231994927,
423
+ -0.09399073151871562,
424
+ 0.08110825065523386
425
+ ],
426
+ "orientation": {
427
+ "w": 0.5564531764620056,
428
+ "xyz": [
429
+ -0.828012274637442,
430
+ 0.059576313105058065,
431
+ -0.034730366711013864
432
+ ]
433
+ }
434
+ },
435
+ "grasp_95": {
436
+ "confidence": 0.8584437966346741,
437
+ "position": [
438
+ -0.023289805511012673,
439
+ -0.08198781637474895,
440
+ 0.09881275240331888
441
+ ],
442
+ "orientation": {
443
+ "w": 0.474166586108836,
444
+ "xyz": [
445
+ -0.8702086070852849,
446
+ 0.12010571523707975,
447
+ -0.058971568912227046
448
+ ]
449
+ }
450
+ },
451
+ "grasp_97": {
452
+ "confidence": 0.8058354258537292,
453
+ "position": [
454
+ -0.02664883271791041,
455
+ -0.0916135641746223,
456
+ 0.08270260039716959
457
+ ],
458
+ "orientation": {
459
+ "w": 0.5501291789815276,
460
+ "xyz": [
461
+ -0.8242387078127107,
462
+ 0.11973885914022542,
463
+ -0.060423874322491564
464
+ ]
465
+ }
466
+ },
467
+ "grasp_99": {
468
+ "confidence": 0.7154274582862854,
469
+ "position": [
470
+ -0.06869596638716757,
471
+ -0.07570629147812724,
472
+ 0.08041218016296625
473
+ ],
474
+ "orientation": {
475
+ "w": 0.5268029098661399,
476
+ "xyz": [
477
+ -0.7766744835653636,
478
+ 0.2628084408810367,
479
+ -0.224024918562025
480
+ ]
481
+ }
482
+ },
483
+ "grasp_104": {
484
+ "confidence": 0.47435620427131653,
485
+ "position": [
486
+ -0.009367227787151933,
487
+ 0.09537178697064519,
488
+ 0.06551481503993273
489
+ ],
490
+ "orientation": {
491
+ "w": 0.03816602697210909,
492
+ "xyz": [
493
+ 0.006607361216238725,
494
+ 0.7727010252731125,
495
+ -0.6335872652640704
496
+ ]
497
+ }
498
+ }
499
+ }
500
+ },
501
+ {
502
+ "part_name": "neck band",
503
+ "mask_color": "Red",
504
+ "graspable": true,
505
+ "grasp_scenarios": [
506
+ {
507
+ "scenario": "grasp the neck band to twist the upper assembly during opening or closing",
508
+ "confidence": 0.68
509
+ },
510
+ {
511
+ "scenario": "hold the neck area briefly to reposition the bottle",
512
+ "confidence": 0.49
513
+ }
514
+ ],
515
+ "functional_labels": [
516
+ "connect bottle body to top",
517
+ "reinforce neck area",
518
+ "provide assembly interface",
519
+ "support structural transition"
520
+ ],
521
+ "semantic_description": "Narrow peach to reddish-pink band around the upper bottle neck with a smooth glossy surface and circular shape between the body and upper collar area.",
522
+ "id": 0,
523
+ "grasp_group": {
524
+ "grasp_0": {
525
+ "confidence": 0.8982927203178406,
526
+ "position": [
527
+ -0.002447727369144559,
528
+ -0.10960612026974559,
529
+ 0.07502193842083216
530
+ ],
531
+ "orientation": {
532
+ "w": 0.02220694086643701,
533
+ "xyz": [
534
+ -0.009440271580963028,
535
+ 0.8471167226187467,
536
+ 0.5308587300869274
537
+ ]
538
+ }
539
+ },
540
+ "grasp_1": {
541
+ "confidence": 0.8948788642883301,
542
+ "position": [
543
+ 0.00373170361854136,
544
+ -0.08992693154141307,
545
+ 0.08663579169660807
546
+ ],
547
+ "orientation": {
548
+ "w": 0.46134989099529944,
549
+ "xyz": [
550
+ -0.8869426934379597,
551
+ 0.002689771255740603,
552
+ 0.02194770526124866
553
+ ]
554
+ }
555
+ },
556
+ "grasp_2": {
557
+ "confidence": 0.8872091770172119,
558
+ "position": [
559
+ 0.0006166950333863497,
560
+ -0.09589589713141322,
561
+ 0.08350487891584635
562
+ ],
563
+ "orientation": {
564
+ "w": 0.46918403518641605,
565
+ "xyz": [
566
+ -0.8829929690838676,
567
+ 0.012587352903343452,
568
+ 0.005596089843335046
569
+ ]
570
+ }
571
+ },
572
+ "grasp_3": {
573
+ "confidence": 0.8850653767585754,
574
+ "position": [
575
+ 0.009082049829885364,
576
+ -0.08536176709458232,
577
+ 0.097825245000422
578
+ ],
579
+ "orientation": {
580
+ "w": 0.3823333920809584,
581
+ "xyz": [
582
+ -0.9228694674467786,
583
+ 0.0007749925739545804,
584
+ 0.04617924578073514
585
+ ]
586
+ }
587
+ },
588
+ "grasp_4": {
589
+ "confidence": 0.8769632577896118,
590
+ "position": [
591
+ -0.005901839351281524,
592
+ -0.09460929362103343,
593
+ 0.08940824214369059
594
+ ],
595
+ "orientation": {
596
+ "w": 0.44986050502918956,
597
+ "xyz": [
598
+ -0.8920308361353637,
599
+ 0.04210752615451557,
600
+ -0.011552906113749258
601
+ ]
602
+ }
603
+ },
604
+ "grasp_6": {
605
+ "confidence": 0.8633801937103271,
606
+ "position": [
607
+ -0.002491164254024625,
608
+ -0.10236455081030726,
609
+ 0.08158131781965494
610
+ ],
611
+ "orientation": {
612
+ "w": 0.4778695590767826,
613
+ "xyz": [
614
+ -0.8782268137172233,
615
+ 0.016680089959181132,
616
+ -0.008951132599206896
617
+ ]
618
+ }
619
+ },
620
+ "grasp_7": {
621
+ "confidence": 0.8632569313049316,
622
+ "position": [
623
+ 0.012502151308581233,
624
+ -0.10548358736559749,
625
+ 0.081837416626513
626
+ ],
627
+ "orientation": {
628
+ "w": 0.491158450191704,
629
+ "xyz": [
630
+ -0.8696840461686902,
631
+ -0.026190150976541038,
632
+ 0.04155854469017586
633
+ ]
634
+ }
635
+ },
636
+ "grasp_8": {
637
+ "confidence": 0.8631470203399658,
638
+ "position": [
639
+ -0.00652519310824573,
640
+ -0.08366266964003444,
641
+ 0.10240430478006601
642
+ ],
643
+ "orientation": {
644
+ "w": 0.35992356459102814,
645
+ "xyz": [
646
+ -0.9327162305438309,
647
+ 0.01917711119452975,
648
+ -0.011300413197223197
649
+ ]
650
+ }
651
+ },
652
+ "grasp_9": {
653
+ "confidence": 0.857513964176178,
654
+ "position": [
655
+ 0.03264510980807245,
656
+ -0.0855502593331039,
657
+ 0.08906118664890528
658
+ ],
659
+ "orientation": {
660
+ "w": 0.4469365162945225,
661
+ "xyz": [
662
+ -0.8763183910416831,
663
+ -0.153369945485001,
664
+ 0.09376293375614467
665
+ ]
666
+ }
667
+ },
668
+ "grasp_11": {
669
+ "confidence": 0.8444022536277771,
670
+ "position": [
671
+ -0.019030764931812882,
672
+ -0.10552886454388499,
673
+ 0.07831359002739191
674
+ ],
675
+ "orientation": {
676
+ "w": 0.5162178579680448,
677
+ "xyz": [
678
+ -0.8512667542473105,
679
+ 0.07157868817505586,
680
+ -0.061159853067765516
681
+ ]
682
+ }
683
+ },
684
+ "grasp_12": {
685
+ "confidence": 0.841890275478363,
686
+ "position": [
687
+ -0.01851521641947329,
688
+ -0.10159383295103908,
689
+ 0.07838857267051935
690
+ ],
691
+ "orientation": {
692
+ "w": 0.08164066616047139,
693
+ "xyz": [
694
+ 0.04575588418322816,
695
+ 0.862948227772158,
696
+ 0.4965496519748821
697
+ ]
698
+ }
699
+ },
700
+ "grasp_13": {
701
+ "confidence": 0.8401162624359131,
702
+ "position": [
703
+ -0.00683223525993526,
704
+ -0.08187889633700252,
705
+ 0.1015280494466424
706
+ ],
707
+ "orientation": {
708
+ "w": 0.34543651817517845,
709
+ "xyz": [
710
+ -0.9373015423814479,
711
+ 0.0438285628611611,
712
+ -0.014781327338695511
713
+ ]
714
+ }
715
+ },
716
+ "grasp_15": {
717
+ "confidence": 0.8324577212333679,
718
+ "position": [
719
+ -0.017254801699891686,
720
+ -0.10670286742970347,
721
+ 0.066378572024405
722
+ ],
723
+ "orientation": {
724
+ "w": 0.565282323163608,
725
+ "xyz": [
726
+ -0.8211050263720364,
727
+ 0.05486826476311579,
728
+ -0.05684983999288267
729
+ ]
730
+ }
731
+ },
732
+ "grasp_17": {
733
+ "confidence": 0.819968581199646,
734
+ "position": [
735
+ -0.011671438114717603,
736
+ 0.0968814236111939,
737
+ 0.07858379278331995
738
+ ],
739
+ "orientation": {
740
+ "w": 0.04918409412295779,
741
+ "xyz": [
742
+ -0.02137476906006996,
743
+ 0.8691095036377835,
744
+ -0.49170388936779696
745
+ ]
746
+ }
747
+ },
748
+ "grasp_18": {
749
+ "confidence": 0.8137655854225159,
750
+ "position": [
751
+ -0.014057124266400933,
752
+ 0.08485262515023351,
753
+ 0.09351773653179407
754
+ ],
755
+ "orientation": {
756
+ "w": 0.05392826392223361,
757
+ "xyz": [
758
+ -0.031805037513722795,
759
+ 0.9070205207008498,
760
+ -0.4164060001568717
761
+ ]
762
+ }
763
+ }
764
+ }
765
+ },
766
+ {
767
+ "part_name": "body underside",
768
+ "mask_color": "Brown",
769
+ "graspable": false,
770
+ "grasp_scenarios": [],
771
+ "functional_labels": [
772
+ "form the bottom of the bottle body",
773
+ "provide standing support surface",
774
+ "close the container base"
775
+ ],
776
+ "semantic_description": "Flat rounded underside of the bottle body, appearing tan/brown in the rendered views, with a broad circular footprint visible from bottom angles.",
777
+ "id": 11,
778
+ "grasp_group": {}
779
+ },
780
+ {
781
+ "part_name": "upper collar edge",
782
+ "mask_color": "Blue",
783
+ "graspable": true,
784
+ "grasp_scenarios": [
785
+ {
786
+ "scenario": "pinch the narrow upper collar edge while twisting the cap assembly during disassembly",
787
+ "confidence": 0.42
788
+ }
789
+ ],
790
+ "functional_labels": [
791
+ "form edge transition between collar parts",
792
+ "provide a lip for cap geometry",
793
+ "separate adjoining top components"
794
+ ],
795
+ "semantic_description": "Very thin pale edge line around the upper neck/collar area, visible as a narrow light band between the larger pink collar and red neck band rather than a distinctly blue part in the RGB image.",
796
+ "id": 2,
797
+ "grasp_group": {
798
+ "grasp_40": {
799
+ "confidence": 0.34165602922439575,
800
+ "position": [
801
+ 0.08571502170525491,
802
+ 0.061725900042802095,
803
+ 0.03888992499560118
804
+ ],
805
+ "orientation": {
806
+ "w": 0.6280385446661513,
807
+ "xyz": [
808
+ 0.6274545120562981,
809
+ -0.3222482508034151,
810
+ -0.3286707875183843
811
+ ]
812
+ }
813
+ },
814
+ "grasp_41": {
815
+ "confidence": 0.09784805029630661,
816
+ "position": [
817
+ 0.10328573337756097,
818
+ -0.004997123498469591,
819
+ 0.041585554368793964
820
+ ],
821
+ "orientation": {
822
+ "w": 0.5051182968155676,
823
+ "xyz": [
824
+ -0.52333833686968,
825
+ -0.4959831831489522,
826
+ 0.47431337048205835
827
+ ]
828
+ }
829
+ },
830
+ "grasp_43": {
831
+ "confidence": 0.7228990793228149,
832
+ "position": [
833
+ -0.049661733442917466,
834
+ -0.08197381673380733,
835
+ 0.07735211495310068
836
+ ],
837
+ "orientation": {
838
+ "w": 0.5246723639640615,
839
+ "xyz": [
840
+ -0.8095389181885437,
841
+ 0.2030973729705945,
842
+ -0.16768156584111818
843
+ ]
844
+ }
845
+ },
846
+ "grasp_44": {
847
+ "confidence": 0.5912113785743713,
848
+ "position": [
849
+ -0.024260167265310884,
850
+ -0.09806905267760158,
851
+ 0.06413992214947939
852
+ ],
853
+ "orientation": {
854
+ "w": 0.5985976886385311,
855
+ "xyz": [
856
+ -0.7932532798750987,
857
+ 0.07147931891263404,
858
+ -0.08556137032442165
859
+ ]
860
+ }
861
+ },
862
+ "grasp_45": {
863
+ "confidence": 0.3075650632381439,
864
+ "position": [
865
+ -0.09439365961588919,
866
+ -0.05531065119430423,
867
+ 0.037656852044165134
868
+ ],
869
+ "orientation": {
870
+ "w": 0.39993061296626986,
871
+ "xyz": [
872
+ 0.331475825076278,
873
+ 0.6118270390450485,
874
+ 0.5965290910725083
875
+ ]
876
+ }
877
+ },
878
+ "grasp_48": {
879
+ "confidence": 0.8297787308692932,
880
+ "position": [
881
+ -0.026103710988536477,
882
+ -0.095677952747792,
883
+ 0.08156020287424326
884
+ ],
885
+ "orientation": {
886
+ "w": 0.5255222335328814,
887
+ "xyz": [
888
+ -0.8404025597364576,
889
+ 0.09704292310073204,
890
+ -0.09018087783497321
891
+ ]
892
+ }
893
+ }
894
+ }
895
+ }
896
+ ],
897
+ "quality_check": {
898
+ "success": false,
899
+ "message": "Several parts are over-segmented or mislabeled as separate functional parts, especially handle inner surface and thin collar edge/band distinctions."
900
+ }
901
+ }
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ca6ec92da0670d8bd08cd06ad2434f771f8620f447cfcc05c3690b78db9f9bd
3
+ size 3785476