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
084a931
·
verified ·
1 Parent(s): 58108ee

Add asset livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/affordance/affordance_annot.json +1005 -0
  3. dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7756,4 +7756,4 @@ dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/affordanc
7756
  dataset/livingroom_supplies/ornaments/c3ab8d570b4e504a8b29c65b0d1c1565/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7757
  dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7758
  dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7759
- dataset/livingroom_supplies/ornaments/c8a319ec68f55571ac43c8dd828556a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7756
  dataset/livingroom_supplies/ornaments/c3ab8d570b4e504a8b29c65b0d1c1565/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7757
  dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7758
  dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7759
+ dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1005 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "reservoir bottle",
5
+ "mask_color": "Pink",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and carry the sprayer",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body to stabilize the sprayer while operating the trigger and aiming the nozzle",
14
+ "confidence": 0.9
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain liquid",
19
+ "main support structure",
20
+ "main grasp surface",
21
+ "stabilize during spraying"
22
+ ],
23
+ "semantic_description": "Large translucent light mint-green plastic bottle with a smooth matte surface and rounded cylindrical shape, forming the lower main body of the sprayer.",
24
+ "id": 8,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "upper head and neck assembly",
29
+ "mask_color": "Orange",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the head/neck area to reposition the sprayer briefly",
34
+ "confidence": 0.58
35
+ },
36
+ {
37
+ "scenario": "hold the upper assembly to stabilize the object during nozzle adjustment",
38
+ "confidence": 0.55
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "connect bottle to spray components",
43
+ "support pump and nozzle tube",
44
+ "route fluid to the nozzle",
45
+ "provide top structure"
46
+ ],
47
+ "semantic_description": "Dark green plastic neck and upper head assembly with a smooth matte finish above the bottle, connecting the pump top, trigger handle, and nozzle tube.",
48
+ "id": 4,
49
+ "grasp_group": {
50
+ "grasp_40": {
51
+ "confidence": 0.7761725187301636,
52
+ "position": [
53
+ -0.09718232424347661,
54
+ -0.0773657700046897,
55
+ 0.16715813055634499
56
+ ],
57
+ "orientation": {
58
+ "w": 0.031022174676662906,
59
+ "xyz": [
60
+ -0.7575509264963208,
61
+ 0.04982465470125064,
62
+ -0.6501320806011638
63
+ ]
64
+ }
65
+ },
66
+ "grasp_41": {
67
+ "confidence": 0.7601431012153625,
68
+ "position": [
69
+ -0.08572871060459875,
70
+ -0.09965402539819479,
71
+ 0.11688610538840294
72
+ ],
73
+ "orientation": {
74
+ "w": 0.8314625384031356,
75
+ "xyz": [
76
+ -0.12662354231570133,
77
+ 0.5409510174126088,
78
+ 0.0029193362091367303
79
+ ]
80
+ }
81
+ },
82
+ "grasp_42": {
83
+ "confidence": 0.6568743586540222,
84
+ "position": [
85
+ 0.09341310142190196,
86
+ -0.10283567663282156,
87
+ 0.15293652936816216
88
+ ],
89
+ "orientation": {
90
+ "w": 0.13045400201447674,
91
+ "xyz": [
92
+ -0.6886569666154291,
93
+ 0.10151507314711194,
94
+ 0.7059943523955265
95
+ ]
96
+ }
97
+ },
98
+ "grasp_45": {
99
+ "confidence": 0.3977973759174347,
100
+ "position": [
101
+ -0.009860629303148016,
102
+ -0.09029216971248388,
103
+ 0.2533841244876385
104
+ ],
105
+ "orientation": {
106
+ "w": 0.18675414130282603,
107
+ "xyz": [
108
+ -0.22895442280652062,
109
+ 0.9435424757033428,
110
+ 0.14976768519004255
111
+ ]
112
+ }
113
+ },
114
+ "grasp_48": {
115
+ "confidence": 0.25089263916015625,
116
+ "position": [
117
+ -0.009619801392545924,
118
+ -0.05088007356971502,
119
+ 0.24656611308455467
120
+ ],
121
+ "orientation": {
122
+ "w": 0.13010121515323228,
123
+ "xyz": [
124
+ -0.9905385497805173,
125
+ -0.01339045955034715,
126
+ -0.041566221952358096
127
+ ]
128
+ }
129
+ },
130
+ "grasp_50": {
131
+ "confidence": 0.21438874304294586,
132
+ "position": [
133
+ -0.09799478025524877,
134
+ -0.03470205049961805,
135
+ 0.16170136258006096
136
+ ],
137
+ "orientation": {
138
+ "w": 0.6961672963824863,
139
+ "xyz": [
140
+ -0.03615244380235381,
141
+ 0.7106470351243275,
142
+ -0.09499940906984451
143
+ ]
144
+ }
145
+ },
146
+ "grasp_52": {
147
+ "confidence": 0.13202601671218872,
148
+ "position": [
149
+ 0.0839973482361529,
150
+ -0.04061607550829649,
151
+ 0.20897619053721428
152
+ ],
153
+ "orientation": {
154
+ "w": 0.18064835031339552,
155
+ "xyz": [
156
+ -0.7846541164298757,
157
+ -0.11276901924478788,
158
+ 0.5822089310524771
159
+ ]
160
+ }
161
+ }
162
+ }
163
+ },
164
+ {
165
+ "part_name": "pump plunger knob",
166
+ "mask_color": "Green",
167
+ "graspable": true,
168
+ "grasp_scenarios": [
169
+ {
170
+ "scenario": "grasp and push-pull the top knob to pressurize the container",
171
+ "confidence": 0.97
172
+ },
173
+ {
174
+ "scenario": "hold the top knob lightly while repositioning the sprayer",
175
+ "confidence": 0.35
176
+ }
177
+ ],
178
+ "functional_labels": [
179
+ "pump to build pressure",
180
+ "provide top hand contact",
181
+ "control pressurization"
182
+ ],
183
+ "semantic_description": "Round dark green plastic knob with a flat disk-like top and short stem, centered on the very top of the sprayer head.",
184
+ "id": 1,
185
+ "grasp_group": {
186
+ "grasp_0": {
187
+ "confidence": 0.8536741137504578,
188
+ "position": [
189
+ -0.0071279020921792835,
190
+ -0.05122245382517576,
191
+ 0.30038123950362206
192
+ ],
193
+ "orientation": {
194
+ "w": 0.3004416009556272,
195
+ "xyz": [
196
+ -0.944700001915039,
197
+ -0.1186255688188973,
198
+ -0.05661029252122207
199
+ ]
200
+ }
201
+ },
202
+ "grasp_1": {
203
+ "confidence": 0.8450383543968201,
204
+ "position": [
205
+ 0.016701256769010797,
206
+ -0.050087167881429195,
207
+ 0.2973734997212887
208
+ ],
209
+ "orientation": {
210
+ "w": 0.3118310817345177,
211
+ "xyz": [
212
+ -0.9353463485002441,
213
+ -0.1603051357095826,
214
+ 0.046806498231257064
215
+ ]
216
+ }
217
+ },
218
+ "grasp_2": {
219
+ "confidence": 0.8375185132026672,
220
+ "position": [
221
+ 0.027375265868613496,
222
+ 0.09762575570493937,
223
+ 0.2692009024322033
224
+ ],
225
+ "orientation": {
226
+ "w": 0.4811252379401807,
227
+ "xyz": [
228
+ 0.8641453533194053,
229
+ -0.1076340466891117,
230
+ -0.10092683363115443
231
+ ]
232
+ }
233
+ },
234
+ "grasp_3": {
235
+ "confidence": 0.8334276676177979,
236
+ "position": [
237
+ -0.009024395694723353,
238
+ 0.039799281395971775,
239
+ 0.31214476749300957
240
+ ],
241
+ "orientation": {
242
+ "w": 0.18422003463706252,
243
+ "xyz": [
244
+ 0.9653756735618287,
245
+ 0.18469374788690873,
246
+ 0.0010036059246031346
247
+ ]
248
+ }
249
+ },
250
+ "grasp_4": {
251
+ "confidence": 0.8311110138893127,
252
+ "position": [
253
+ -0.001091138314222917,
254
+ -0.07243100460618734,
255
+ 0.29235662147402763
256
+ ],
257
+ "orientation": {
258
+ "w": 0.36264146287753435,
259
+ "xyz": [
260
+ -0.9134744394609329,
261
+ -0.18098119276332708,
262
+ -0.036075278509527325
263
+ ]
264
+ }
265
+ },
266
+ "grasp_5": {
267
+ "confidence": 0.8084233403205872,
268
+ "position": [
269
+ 0.0065941087959799916,
270
+ 0.02912426646798849,
271
+ 0.31623731181025505
272
+ ],
273
+ "orientation": {
274
+ "w": 0.06943197640421223,
275
+ "xyz": [
276
+ 0.24173888912281394,
277
+ -0.9601836651116318,
278
+ 0.12160937213499151
279
+ ]
280
+ }
281
+ },
282
+ "grasp_7": {
283
+ "confidence": 0.8016461133956909,
284
+ "position": [
285
+ 0.005150521086761728,
286
+ -0.05111157428473234,
287
+ 0.30581219121813774
288
+ ],
289
+ "orientation": {
290
+ "w": 0.08144913873284439,
291
+ "xyz": [
292
+ -0.059170328273603016,
293
+ -0.9576912514278993,
294
+ -0.2696152387943527
295
+ ]
296
+ }
297
+ },
298
+ "grasp_8": {
299
+ "confidence": 0.7978696227073669,
300
+ "position": [
301
+ 0.047980884002754465,
302
+ -0.053959387354552746,
303
+ 0.2797653339803219
304
+ ],
305
+ "orientation": {
306
+ "w": 0.40785180798460746,
307
+ "xyz": [
308
+ -0.8454257839162218,
309
+ -0.30732427814721464,
310
+ 0.1564095095402521
311
+ ]
312
+ }
313
+ },
314
+ "grasp_9": {
315
+ "confidence": 0.7958112359046936,
316
+ "position": [
317
+ -0.011342418467393145,
318
+ 0.021930244751274586,
319
+ 0.31805921718478203
320
+ ],
321
+ "orientation": {
322
+ "w": 0.07685651992880252,
323
+ "xyz": [
324
+ 0.9903885519541725,
325
+ 0.09807491943651947,
326
+ 0.060040833439181075
327
+ ]
328
+ }
329
+ },
330
+ "grasp_11": {
331
+ "confidence": 0.7905519008636475,
332
+ "position": [
333
+ 0.001677865773672238,
334
+ 0.015216672793030739,
335
+ 0.31708140298724174
336
+ ],
337
+ "orientation": {
338
+ "w": 0.09892215250783223,
339
+ "xyz": [
340
+ 0.9757046474566367,
341
+ 0.19547610628928375,
342
+ -0.0019850805318733624
343
+ ]
344
+ }
345
+ },
346
+ "grasp_17": {
347
+ "confidence": 0.7126069664955139,
348
+ "position": [
349
+ -0.03593719200580381,
350
+ 0.03686585742980242,
351
+ 0.3067978136241436
352
+ ],
353
+ "orientation": {
354
+ "w": 0.22303742557448514,
355
+ "xyz": [
356
+ 0.872569695230152,
357
+ 0.41757567739165885,
358
+ 0.1204449559340798
359
+ ]
360
+ }
361
+ },
362
+ "grasp_18": {
363
+ "confidence": 0.7080668210983276,
364
+ "position": [
365
+ 0.030544586392352358,
366
+ 0.060884018428623676,
367
+ 0.30122921988368034
368
+ ],
369
+ "orientation": {
370
+ "w": 0.11273053157193988,
371
+ "xyz": [
372
+ -0.20073630037686976,
373
+ -0.9336471015797808,
374
+ 0.27440818988176996
375
+ ]
376
+ }
377
+ }
378
+ }
379
+ },
380
+ {
381
+ "part_name": "pump stem",
382
+ "mask_color": "Purple",
383
+ "graspable": false,
384
+ "grasp_scenarios": [],
385
+ "functional_labels": [
386
+ "connect pump knob to internal mechanism",
387
+ "transmit pumping force"
388
+ ],
389
+ "semantic_description": "Short narrow dark green stem beneath the top knob, linking the knob to the upper pump assembly.",
390
+ "id": 5,
391
+ "grasp_group": {}
392
+ },
393
+ {
394
+ "part_name": "spray tube",
395
+ "mask_color": "Orange",
396
+ "graspable": true,
397
+ "grasp_scenarios": [
398
+ {
399
+ "scenario": "grasp the horizontal or angled tube near the nozzle to help aim the spray direction",
400
+ "confidence": 0.72
401
+ },
402
+ {
403
+ "scenario": "hold the tube while adjusting or inspecting the nozzle tip",
404
+ "confidence": 0.66
405
+ }
406
+ ],
407
+ "functional_labels": [
408
+ "extend spray outlet",
409
+ "aim spray",
410
+ "connect head to nozzle",
411
+ "provide reach"
412
+ ],
413
+ "semantic_description": "Slim dark greenish plastic tube with a smooth matte surface extending from the head toward the nozzle, providing reach for spraying.",
414
+ "id": 4,
415
+ "grasp_group": {
416
+ "grasp_40": {
417
+ "confidence": 0.7761725187301636,
418
+ "position": [
419
+ -0.09718232424347661,
420
+ -0.0773657700046897,
421
+ 0.16715813055634499
422
+ ],
423
+ "orientation": {
424
+ "w": 0.031022174676662906,
425
+ "xyz": [
426
+ -0.7575509264963208,
427
+ 0.04982465470125064,
428
+ -0.6501320806011638
429
+ ]
430
+ }
431
+ },
432
+ "grasp_41": {
433
+ "confidence": 0.7601431012153625,
434
+ "position": [
435
+ -0.08572871060459875,
436
+ -0.09965402539819479,
437
+ 0.11688610538840294
438
+ ],
439
+ "orientation": {
440
+ "w": 0.8314625384031356,
441
+ "xyz": [
442
+ -0.12662354231570133,
443
+ 0.5409510174126088,
444
+ 0.0029193362091367303
445
+ ]
446
+ }
447
+ },
448
+ "grasp_42": {
449
+ "confidence": 0.6568743586540222,
450
+ "position": [
451
+ 0.09341310142190196,
452
+ -0.10283567663282156,
453
+ 0.15293652936816216
454
+ ],
455
+ "orientation": {
456
+ "w": 0.13045400201447674,
457
+ "xyz": [
458
+ -0.6886569666154291,
459
+ 0.10151507314711194,
460
+ 0.7059943523955265
461
+ ]
462
+ }
463
+ },
464
+ "grasp_45": {
465
+ "confidence": 0.3977973759174347,
466
+ "position": [
467
+ -0.009860629303148016,
468
+ -0.09029216971248388,
469
+ 0.2533841244876385
470
+ ],
471
+ "orientation": {
472
+ "w": 0.18675414130282603,
473
+ "xyz": [
474
+ -0.22895442280652062,
475
+ 0.9435424757033428,
476
+ 0.14976768519004255
477
+ ]
478
+ }
479
+ },
480
+ "grasp_48": {
481
+ "confidence": 0.25089263916015625,
482
+ "position": [
483
+ -0.009619801392545924,
484
+ -0.05088007356971502,
485
+ 0.24656611308455467
486
+ ],
487
+ "orientation": {
488
+ "w": 0.13010121515323228,
489
+ "xyz": [
490
+ -0.9905385497805173,
491
+ -0.01339045955034715,
492
+ -0.041566221952358096
493
+ ]
494
+ }
495
+ },
496
+ "grasp_50": {
497
+ "confidence": 0.21438874304294586,
498
+ "position": [
499
+ -0.09799478025524877,
500
+ -0.03470205049961805,
501
+ 0.16170136258006096
502
+ ],
503
+ "orientation": {
504
+ "w": 0.6961672963824863,
505
+ "xyz": [
506
+ -0.03615244380235381,
507
+ 0.7106470351243275,
508
+ -0.09499940906984451
509
+ ]
510
+ }
511
+ },
512
+ "grasp_52": {
513
+ "confidence": 0.13202601671218872,
514
+ "position": [
515
+ 0.0839973482361529,
516
+ -0.04061607550829649,
517
+ 0.20897619053721428
518
+ ],
519
+ "orientation": {
520
+ "w": 0.18064835031339552,
521
+ "xyz": [
522
+ -0.7846541164298757,
523
+ -0.11276901924478788,
524
+ 0.5822089310524771
525
+ ]
526
+ }
527
+ }
528
+ }
529
+ },
530
+ {
531
+ "part_name": "nozzle cap",
532
+ "mask_color": "Cyan",
533
+ "graspable": true,
534
+ "grasp_scenarios": [
535
+ {
536
+ "scenario": "pinch the nozzle cap to rotate and adjust spray pattern",
537
+ "confidence": 0.89
538
+ },
539
+ {
540
+ "scenario": "grasp the nozzle tip to orient the spray head during precise aiming",
541
+ "confidence": 0.52
542
+ }
543
+ ],
544
+ "functional_labels": [
545
+ "shape spray pattern",
546
+ "adjust outlet opening",
547
+ "cover nozzle tip",
548
+ "direct liquid flow"
549
+ ],
550
+ "semantic_description": "Small light mint-green plastic cap at the tube tip with a smooth matte finish, surrounding the spray outlet.",
551
+ "id": 6,
552
+ "grasp_group": {
553
+ "grasp_70": {
554
+ "confidence": 0.9006198048591614,
555
+ "position": [
556
+ 0.1001479494443629,
557
+ -0.09272465761750937,
558
+ 0.14277337864041328
559
+ ],
560
+ "orientation": {
561
+ "w": 0.0527252460196536,
562
+ "xyz": [
563
+ 0.6462461365387026,
564
+ 0.06955188944387569,
565
+ -0.75812170138821
566
+ ]
567
+ }
568
+ },
569
+ "grasp_79": {
570
+ "confidence": 0.8864600658416748,
571
+ "position": [
572
+ 0.08225804744870402,
573
+ -0.17562159057706594,
574
+ 0.14425312355160713
575
+ ],
576
+ "orientation": {
577
+ "w": 0.6669699099615322,
578
+ "xyz": [
579
+ -0.15685887671534615,
580
+ -0.665114942429476,
581
+ -0.29693188673253046
582
+ ]
583
+ }
584
+ }
585
+ }
586
+ },
587
+ {
588
+ "part_name": "nozzle insert",
589
+ "mask_color": "Blue",
590
+ "graspable": false,
591
+ "grasp_scenarios": [],
592
+ "functional_labels": [
593
+ "form spray outlet",
594
+ "meter liquid flow",
595
+ "help atomize liquid"
596
+ ],
597
+ "semantic_description": "Small dark blue circular insert recessed within the nozzle tip, appearing as the outlet opening at the very front of the sprayer.",
598
+ "id": 2,
599
+ "grasp_group": {
600
+ "grasp_20": {
601
+ "confidence": 0.9627773761749268,
602
+ "position": [
603
+ 0.010235087858745828,
604
+ 0.1894893730059266,
605
+ 0.06225573271512985
606
+ ],
607
+ "orientation": {
608
+ "w": 0.8317588321429153,
609
+ "xyz": [
610
+ 0.5539783254991264,
611
+ -0.03357174645947436,
612
+ -0.012577673437390779
613
+ ]
614
+ }
615
+ },
616
+ "grasp_21": {
617
+ "confidence": 0.9599971771240234,
618
+ "position": [
619
+ -0.0026203762681689113,
620
+ 0.1915279859676957,
621
+ 0.0636053504422307
622
+ ],
623
+ "orientation": {
624
+ "w": 0.8191177409918123,
625
+ "xyz": [
626
+ 0.5730475951978838,
627
+ 0.012823302871744713,
628
+ 0.022319115884189215
629
+ ]
630
+ }
631
+ },
632
+ "grasp_22": {
633
+ "confidence": 0.9585303664207458,
634
+ "position": [
635
+ -0.0037061973416712135,
636
+ 0.19043433014303446,
637
+ 0.05517301592044532
638
+ ],
639
+ "orientation": {
640
+ "w": 0.8398999364062887,
641
+ "xyz": [
642
+ 0.5422567783173713,
643
+ 0.02138361521388299,
644
+ 0.008271891800685004
645
+ ]
646
+ }
647
+ },
648
+ "grasp_23": {
649
+ "confidence": 0.9580576419830322,
650
+ "position": [
651
+ -0.00232445597066544,
652
+ 0.19372714404016733,
653
+ 0.061536552384495735
654
+ ],
655
+ "orientation": {
656
+ "w": 0.8083105842800317,
657
+ "xyz": [
658
+ 0.5871234733639095,
659
+ -0.0026496241368618723,
660
+ 0.04373792242328759
661
+ ]
662
+ }
663
+ },
664
+ "grasp_24": {
665
+ "confidence": 0.9565194845199585,
666
+ "position": [
667
+ 0.005314901849487796,
668
+ 0.1928621018305421,
669
+ 0.07658429071307182
670
+ ],
671
+ "orientation": {
672
+ "w": 0.7794150393402357,
673
+ "xyz": [
674
+ 0.6263132033425548,
675
+ -0.012621759378626862,
676
+ -0.00920103033552163
677
+ ]
678
+ }
679
+ },
680
+ "grasp_31": {
681
+ "confidence": 0.953911304473877,
682
+ "position": [
683
+ 0.0190972424170468,
684
+ 0.18754335585981607,
685
+ 0.05972656747326255
686
+ ],
687
+ "orientation": {
688
+ "w": 0.8325918601788356,
689
+ "xyz": [
690
+ 0.5476539241741772,
691
+ -0.06557910394202593,
692
+ -0.05064933194754449
693
+ ]
694
+ }
695
+ },
696
+ "grasp_35": {
697
+ "confidence": 0.9520938992500305,
698
+ "position": [
699
+ -0.006494902161648497,
700
+ 0.19540236238390207,
701
+ 0.07905120775103569
702
+ ],
703
+ "orientation": {
704
+ "w": 0.7473246300099079,
705
+ "xyz": [
706
+ 0.6633550659751717,
707
+ 0.02099999872631575,
708
+ 0.032014900891999355
709
+ ]
710
+ }
711
+ },
712
+ "grasp_36": {
713
+ "confidence": 0.9518032073974609,
714
+ "position": [
715
+ 0.01659300914616324,
716
+ 0.1923464024439454,
717
+ 0.08795874565839767
718
+ ],
719
+ "orientation": {
720
+ "w": 0.7398849939668152,
721
+ "xyz": [
722
+ 0.6689444938178863,
723
+ -0.0353685973724297,
724
+ -0.06190736800547387
725
+ ]
726
+ }
727
+ },
728
+ "grasp_38": {
729
+ "confidence": 0.9504337310791016,
730
+ "position": [
731
+ 0.006248493125895038,
732
+ 0.1887112045660615,
733
+ 0.06355370488017797
734
+ ],
735
+ "orientation": {
736
+ "w": 0.8207554875495783,
737
+ "xyz": [
738
+ 0.5708329128325595,
739
+ -0.02190063983638757,
740
+ 0.005529670795501818
741
+ ]
742
+ }
743
+ },
744
+ "grasp_39": {
745
+ "confidence": 0.9502833485603333,
746
+ "position": [
747
+ 0.026758966880152002,
748
+ 0.18926163855940104,
749
+ 0.06365746725350618
750
+ ],
751
+ "orientation": {
752
+ "w": 0.789494482441332,
753
+ "xyz": [
754
+ 0.599248019447662,
755
+ -0.07103048503047682,
756
+ -0.11204884461289136
757
+ ]
758
+ }
759
+ }
760
+ }
761
+ },
762
+ {
763
+ "part_name": "collar ring",
764
+ "mask_color": "White",
765
+ "graspable": false,
766
+ "grasp_scenarios": [],
767
+ "functional_labels": [
768
+ "join head to bottle",
769
+ "seal the bottle opening",
770
+ "support threaded attachment"
771
+ ],
772
+ "semantic_description": "Short light-colored plastic ring around the bottle mouth, positioned between the reservoir and the upper head assembly.",
773
+ "id": 17,
774
+ "grasp_group": {}
775
+ },
776
+ {
777
+ "part_name": "trigger handle",
778
+ "mask_color": "Blue",
779
+ "graspable": true,
780
+ "grasp_scenarios": [
781
+ {
782
+ "scenario": "grasp the trigger handle to carry or steady the sprayer during use",
783
+ "confidence": 0.84
784
+ },
785
+ {
786
+ "scenario": "squeeze and hold the handle to actuate spraying while supporting the bottle with the other hand",
787
+ "confidence": 0.9
788
+ }
789
+ ],
790
+ "functional_labels": [
791
+ "provide hand grip",
792
+ "actuate spray valve",
793
+ "assist carrying",
794
+ "stabilize during spraying"
795
+ ],
796
+ "semantic_description": "Curved dark green-blue plastic trigger handle with a smooth matte surface, mounted on the side of the head assembly and sized for hand gripping.",
797
+ "id": 2,
798
+ "grasp_group": {
799
+ "grasp_20": {
800
+ "confidence": 0.9627773761749268,
801
+ "position": [
802
+ 0.010235087858745828,
803
+ 0.1894893730059266,
804
+ 0.06225573271512985
805
+ ],
806
+ "orientation": {
807
+ "w": 0.8317588321429153,
808
+ "xyz": [
809
+ 0.5539783254991264,
810
+ -0.03357174645947436,
811
+ -0.012577673437390779
812
+ ]
813
+ }
814
+ },
815
+ "grasp_21": {
816
+ "confidence": 0.9599971771240234,
817
+ "position": [
818
+ -0.0026203762681689113,
819
+ 0.1915279859676957,
820
+ 0.0636053504422307
821
+ ],
822
+ "orientation": {
823
+ "w": 0.8191177409918123,
824
+ "xyz": [
825
+ 0.5730475951978838,
826
+ 0.012823302871744713,
827
+ 0.022319115884189215
828
+ ]
829
+ }
830
+ },
831
+ "grasp_22": {
832
+ "confidence": 0.9585303664207458,
833
+ "position": [
834
+ -0.0037061973416712135,
835
+ 0.19043433014303446,
836
+ 0.05517301592044532
837
+ ],
838
+ "orientation": {
839
+ "w": 0.8398999364062887,
840
+ "xyz": [
841
+ 0.5422567783173713,
842
+ 0.02138361521388299,
843
+ 0.008271891800685004
844
+ ]
845
+ }
846
+ },
847
+ "grasp_23": {
848
+ "confidence": 0.9580576419830322,
849
+ "position": [
850
+ -0.00232445597066544,
851
+ 0.19372714404016733,
852
+ 0.061536552384495735
853
+ ],
854
+ "orientation": {
855
+ "w": 0.8083105842800317,
856
+ "xyz": [
857
+ 0.5871234733639095,
858
+ -0.0026496241368618723,
859
+ 0.04373792242328759
860
+ ]
861
+ }
862
+ },
863
+ "grasp_24": {
864
+ "confidence": 0.9565194845199585,
865
+ "position": [
866
+ 0.005314901849487796,
867
+ 0.1928621018305421,
868
+ 0.07658429071307182
869
+ ],
870
+ "orientation": {
871
+ "w": 0.7794150393402357,
872
+ "xyz": [
873
+ 0.6263132033425548,
874
+ -0.012621759378626862,
875
+ -0.00920103033552163
876
+ ]
877
+ }
878
+ },
879
+ "grasp_31": {
880
+ "confidence": 0.953911304473877,
881
+ "position": [
882
+ 0.0190972424170468,
883
+ 0.18754335585981607,
884
+ 0.05972656747326255
885
+ ],
886
+ "orientation": {
887
+ "w": 0.8325918601788356,
888
+ "xyz": [
889
+ 0.5476539241741772,
890
+ -0.06557910394202593,
891
+ -0.05064933194754449
892
+ ]
893
+ }
894
+ },
895
+ "grasp_35": {
896
+ "confidence": 0.9520938992500305,
897
+ "position": [
898
+ -0.006494902161648497,
899
+ 0.19540236238390207,
900
+ 0.07905120775103569
901
+ ],
902
+ "orientation": {
903
+ "w": 0.7473246300099079,
904
+ "xyz": [
905
+ 0.6633550659751717,
906
+ 0.02099999872631575,
907
+ 0.032014900891999355
908
+ ]
909
+ }
910
+ },
911
+ "grasp_36": {
912
+ "confidence": 0.9518032073974609,
913
+ "position": [
914
+ 0.01659300914616324,
915
+ 0.1923464024439454,
916
+ 0.08795874565839767
917
+ ],
918
+ "orientation": {
919
+ "w": 0.7398849939668152,
920
+ "xyz": [
921
+ 0.6689444938178863,
922
+ -0.0353685973724297,
923
+ -0.06190736800547387
924
+ ]
925
+ }
926
+ },
927
+ "grasp_38": {
928
+ "confidence": 0.9504337310791016,
929
+ "position": [
930
+ 0.006248493125895038,
931
+ 0.1887112045660615,
932
+ 0.06355370488017797
933
+ ],
934
+ "orientation": {
935
+ "w": 0.8207554875495783,
936
+ "xyz": [
937
+ 0.5708329128325595,
938
+ -0.02190063983638757,
939
+ 0.005529670795501818
940
+ ]
941
+ }
942
+ },
943
+ "grasp_39": {
944
+ "confidence": 0.9502833485603333,
945
+ "position": [
946
+ 0.026758966880152002,
947
+ 0.18926163855940104,
948
+ 0.06365746725350618
949
+ ],
950
+ "orientation": {
951
+ "w": 0.789494482441332,
952
+ "xyz": [
953
+ 0.599248019447662,
954
+ -0.07103048503047682,
955
+ -0.11204884461289136
956
+ ]
957
+ }
958
+ }
959
+ }
960
+ },
961
+ {
962
+ "part_name": "small side tab",
963
+ "mask_color": "Yellow",
964
+ "graspable": false,
965
+ "grasp_scenarios": [],
966
+ "functional_labels": [
967
+ "small local control or stop feature",
968
+ "local structural detail"
969
+ ],
970
+ "semantic_description": "Small yellow-green tab-like protrusion near the trigger handle on the head assembly, compact and slightly exposed.",
971
+ "id": 3,
972
+ "grasp_group": {}
973
+ },
974
+ {
975
+ "part_name": "pivot pin",
976
+ "mask_color": "Maroon",
977
+ "graspable": false,
978
+ "grasp_scenarios": [],
979
+ "functional_labels": [
980
+ "act as trigger hinge point",
981
+ "connect moving trigger handle to head"
982
+ ],
983
+ "semantic_description": "Very small dark red pin-like feature at the trigger joint, with minimal exposed surface.",
984
+ "id": 12,
985
+ "grasp_group": {}
986
+ },
987
+ {
988
+ "part_name": "rear pin",
989
+ "mask_color": "Magenta",
990
+ "graspable": false,
991
+ "grasp_scenarios": [],
992
+ "functional_labels": [
993
+ "small auxiliary protrusion",
994
+ "local structural feature"
995
+ ],
996
+ "semantic_description": "Thin magenta-colored segmented pin-like protrusion extending from the side or rear of the head assembly as a small auxiliary feature.",
997
+ "id": 7,
998
+ "grasp_group": {}
999
+ }
1000
+ ],
1001
+ "quality_check": {
1002
+ "success": false,
1003
+ "message": "Several parts misidentified or mismatched: orange combines neck+tube, blue combines trigger+nozzle insert, yellow tab unclear, rear pin description/color wrong."
1004
+ }
1005
+ }
dataset/livingroom_supplies/ornaments/c7a7c32554fa5b77a033341a30e39b14/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4eb0ba84fdac43d74b0f94a10affd75ae8f78728449cdd69359d92ce3efddf76
3
+ size 3793032