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
6f69aaa
·
verified ·
1 Parent(s): dcb01b0

Add asset livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/affordance_annot.json +711 -0
  3. dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7706,3 +7706,4 @@ dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/affordanc
7706
  dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7707
  dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7708
  dataset/livingroom_supplies/ornaments/61e971553f625e2e8fd5017fd144aebe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7706
  dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7707
  dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7708
  dataset/livingroom_supplies/ornaments/61e971553f625e2e8fd5017fd144aebe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7709
+ dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/affordance_annot.json ADDED
@@ -0,0 +1,711 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump plunger knob",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the top knob to pressurize the sprayer by pumping",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the knob to steady the pump stem during manipulation",
14
+ "confidence": 0.42
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "pump to build internal pressure",
19
+ "provide a handhold for vertical actuation",
20
+ "control fluid pressurization"
21
+ ],
22
+ "semantic_description": "Small round black plastic knob with a matte to semi-gloss finish and smooth hard surface, centered on top of the sprayer as the pump handle.",
23
+ "id": 0,
24
+ "grasp_group": {
25
+ "grasp_0": {
26
+ "confidence": 0.8915520906448364,
27
+ "position": [
28
+ -0.0007634462090209126,
29
+ -0.019350199989276007,
30
+ 0.2591827651485801
31
+ ],
32
+ "orientation": {
33
+ "w": 0.09704973628266651,
34
+ "xyz": [
35
+ -0.9944796158289287,
36
+ 0.0398302298071006,
37
+ -0.0022792941286287967
38
+ ]
39
+ }
40
+ },
41
+ "grasp_1": {
42
+ "confidence": 0.8877961039543152,
43
+ "position": [
44
+ 0.010552617255598307,
45
+ -0.03246506772120483,
46
+ 0.24914963450282812
47
+ ],
48
+ "orientation": {
49
+ "w": 0.1655773387911035,
50
+ "xyz": [
51
+ -0.9827985098594902,
52
+ -0.07283703535976455,
53
+ 0.0372290233127565
54
+ ]
55
+ }
56
+ },
57
+ "grasp_2": {
58
+ "confidence": 0.8783555030822754,
59
+ "position": [
60
+ -0.015927124302834272,
61
+ -0.008207693725125864,
62
+ 0.2487645884975791
63
+ ],
64
+ "orientation": {
65
+ "w": 0.06296169647817211,
66
+ "xyz": [
67
+ 0.10564086850113628,
68
+ 0.9923303812516814,
69
+ 0.012499844951392948
70
+ ]
71
+ }
72
+ },
73
+ "grasp_3": {
74
+ "confidence": 0.8751905560493469,
75
+ "position": [
76
+ -0.012777011375874281,
77
+ 0.008736521907849237,
78
+ 0.25194682087749243
79
+ ],
80
+ "orientation": {
81
+ "w": 0.0705182891859572,
82
+ "xyz": [
83
+ 0.9941160007430547,
84
+ 0.023632255568854593,
85
+ 0.0787531869428095
86
+ ]
87
+ }
88
+ },
89
+ "grasp_6": {
90
+ "confidence": 0.8564519882202148,
91
+ "position": [
92
+ 0.01767732249572873,
93
+ -0.013730771868722513,
94
+ 0.24972243513911963
95
+ ],
96
+ "orientation": {
97
+ "w": 0.061456743864273,
98
+ "xyz": [
99
+ 0.025021669488191522,
100
+ -0.9976715771849232,
101
+ -0.015760988768901134
102
+ ]
103
+ }
104
+ },
105
+ "grasp_8": {
106
+ "confidence": 0.8477693200111389,
107
+ "position": [
108
+ -0.027606626506894827,
109
+ -0.006519913702504709,
110
+ 0.2508558174595237
111
+ ],
112
+ "orientation": {
113
+ "w": 0.1478157355338095,
114
+ "xyz": [
115
+ -0.10716433941676927,
116
+ 0.9829359280231464,
117
+ -0.02243377113287093
118
+ ]
119
+ }
120
+ },
121
+ "grasp_10": {
122
+ "confidence": 0.8400524258613586,
123
+ "position": [
124
+ -0.019542477559298277,
125
+ 0.02558149115066044,
126
+ 0.26108290161937475
127
+ ],
128
+ "orientation": {
129
+ "w": 0.12748378719100592,
130
+ "xyz": [
131
+ 0.9859214963629884,
132
+ 0.04718325325371861,
133
+ 0.09736748751610959
134
+ ]
135
+ }
136
+ },
137
+ "grasp_11": {
138
+ "confidence": 0.833202600479126,
139
+ "position": [
140
+ 0.020841677207499743,
141
+ 0.002984935388667509,
142
+ 0.2505360087379813
143
+ ],
144
+ "orientation": {
145
+ "w": 0.07965171368561362,
146
+ "xyz": [
147
+ -0.0719054299975497,
148
+ -0.9939359677593047,
149
+ 0.024010531818086784
150
+ ]
151
+ }
152
+ },
153
+ "grasp_12": {
154
+ "confidence": 0.8305045962333679,
155
+ "position": [
156
+ 0.0021740919910371304,
157
+ -0.05123391843517311,
158
+ 0.2533814748749137
159
+ ],
160
+ "orientation": {
161
+ "w": 0.22288683700211337,
162
+ "xyz": [
163
+ -0.9746717620948822,
164
+ -0.01828811714838946,
165
+ -0.0013995846590221202
166
+ ]
167
+ }
168
+ },
169
+ "grasp_14": {
170
+ "confidence": 0.821799635887146,
171
+ "position": [
172
+ 0.010705880355089903,
173
+ 0.021921376668615267,
174
+ 0.26438997592777014
175
+ ],
176
+ "orientation": {
177
+ "w": 0.08854966747288816,
178
+ "xyz": [
179
+ 0.9947873356877162,
180
+ 0.04294362135583735,
181
+ -0.026701283314150982
182
+ ]
183
+ }
184
+ },
185
+ "grasp_15": {
186
+ "confidence": 0.8159204721450806,
187
+ "position": [
188
+ -0.015076273586601019,
189
+ 0.0015794473874848336,
190
+ 0.2633091351017356
191
+ ],
192
+ "orientation": {
193
+ "w": 0.10175640348128524,
194
+ "xyz": [
195
+ -0.14729683810590674,
196
+ 0.983379391249089,
197
+ -0.03023654578696343
198
+ ]
199
+ }
200
+ },
201
+ "grasp_18": {
202
+ "confidence": 0.8000443577766418,
203
+ "position": [
204
+ 0.002269201446324587,
205
+ -0.047638350195484236,
206
+ 0.25880993809551
207
+ ],
208
+ "orientation": {
209
+ "w": 0.022879588823974506,
210
+ "xyz": [
211
+ -0.043959765454108804,
212
+ -0.9788696872789387,
213
+ -0.1983890086746198
214
+ ]
215
+ }
216
+ },
217
+ "grasp_19": {
218
+ "confidence": 0.798128604888916,
219
+ "position": [
220
+ -0.031841668765991926,
221
+ -0.01841233394225128,
222
+ 0.2523198565468192
223
+ ],
224
+ "orientation": {
225
+ "w": 0.08837274163780673,
226
+ "xyz": [
227
+ -0.979853135425734,
228
+ 0.045712565486275086,
229
+ -0.17317174390886833
230
+ ]
231
+ }
232
+ }
233
+ }
234
+ },
235
+ {
236
+ "part_name": "pump head and neck",
237
+ "mask_color": "Green",
238
+ "graspable": true,
239
+ "grasp_scenarios": [
240
+ {
241
+ "scenario": "grasp the upper head to reposition the sprayer when the body is inaccessible",
242
+ "confidence": 0.55
243
+ },
244
+ {
245
+ "scenario": "hold the head assembly to stabilize the sprayer while adjusting the nozzle",
246
+ "confidence": 0.63
247
+ }
248
+ ],
249
+ "functional_labels": [
250
+ "house the pump mechanism",
251
+ "connect top controls to the reservoir",
252
+ "support the nozzle and handle base",
253
+ "provide structural mounting for dispensing parts"
254
+ ],
255
+ "semantic_description": "Medium-sized black plastic upper housing with a matte finish and smooth hard texture, wrapping the bottle neck and connecting the reservoir to the nozzle, trigger, side handle, and top plunger.",
256
+ "id": 1,
257
+ "grasp_group": {
258
+ "grasp_20": {
259
+ "confidence": 0.9695460200309753,
260
+ "position": [
261
+ 0.006599454674869776,
262
+ 0.18029669576208107,
263
+ 0.039883981458842754
264
+ ],
265
+ "orientation": {
266
+ "w": 0.7972849592377049,
267
+ "xyz": [
268
+ 0.6024955380008516,
269
+ -0.007925882124708017,
270
+ -0.03567913753078009
271
+ ]
272
+ }
273
+ },
274
+ "grasp_21": {
275
+ "confidence": 0.9686914086341858,
276
+ "position": [
277
+ 0.0019944581435993314,
278
+ 0.17937395625631325,
279
+ 0.030678088776767254
280
+ ],
281
+ "orientation": {
282
+ "w": 0.8270730827272765,
283
+ "xyz": [
284
+ 0.5618683761477608,
285
+ -0.0010176283493903426,
286
+ -0.015906229773900004
287
+ ]
288
+ }
289
+ },
290
+ "grasp_22": {
291
+ "confidence": 0.968316912651062,
292
+ "position": [
293
+ -0.0030731731094419956,
294
+ 0.17930666261236183,
295
+ 0.049509371630847454
296
+ ],
297
+ "orientation": {
298
+ "w": 0.7903651691027602,
299
+ "xyz": [
300
+ 0.612067671601322,
301
+ 0.012213504228519523,
302
+ 0.023385789791264672
303
+ ]
304
+ }
305
+ },
306
+ "grasp_23": {
307
+ "confidence": 0.9682834148406982,
308
+ "position": [
309
+ -0.002571179298684001,
310
+ 0.18128932171384804,
311
+ 0.0284545524045825
312
+ ],
313
+ "orientation": {
314
+ "w": 0.8055185817576193,
315
+ "xyz": [
316
+ 0.5913757413874403,
317
+ -0.0010823596735279883,
318
+ 0.037594885811586085
319
+ ]
320
+ }
321
+ },
322
+ "grasp_24": {
323
+ "confidence": 0.9674630761146545,
324
+ "position": [
325
+ -0.00999113591387868,
326
+ 0.17828263991395943,
327
+ 0.023075039498507977
328
+ ],
329
+ "orientation": {
330
+ "w": 0.8243564977341478,
331
+ "xyz": [
332
+ 0.5617908506020098,
333
+ 0.012473715730442536,
334
+ 0.06835064915007472
335
+ ]
336
+ }
337
+ },
338
+ "grasp_25": {
339
+ "confidence": 0.9673935174942017,
340
+ "position": [
341
+ -0.012482739519327879,
342
+ 0.17696571999113075,
343
+ 0.04743103962391615
344
+ ],
345
+ "orientation": {
346
+ "w": 0.807350057196637,
347
+ "xyz": [
348
+ 0.5852987547187153,
349
+ 0.029401417840912547,
350
+ 0.06889709353994523
351
+ ]
352
+ }
353
+ },
354
+ "grasp_26": {
355
+ "confidence": 0.9673759341239929,
356
+ "position": [
357
+ 0.008121089544147253,
358
+ 0.17579486125032417,
359
+ 0.05319651868194342
360
+ ],
361
+ "orientation": {
362
+ "w": 0.7987626630214801,
363
+ "xyz": [
364
+ 0.599538244885791,
365
+ -0.0065432238279039545,
366
+ -0.049892758031965856
367
+ ]
368
+ }
369
+ },
370
+ "grasp_27": {
371
+ "confidence": 0.9671590924263,
372
+ "position": [
373
+ -0.015992516186088324,
374
+ 0.17993589394609444,
375
+ 0.029618198983371258
376
+ ],
377
+ "orientation": {
378
+ "w": 0.806560499722741,
379
+ "xyz": [
380
+ 0.5841138337221577,
381
+ 0.0443300746356301,
382
+ 0.07941054101443139
383
+ ]
384
+ }
385
+ },
386
+ "grasp_28": {
387
+ "confidence": 0.9669919610023499,
388
+ "position": [
389
+ 0.0032464617397636175,
390
+ 0.17426518254796974,
391
+ 0.04622096847742796
392
+ ],
393
+ "orientation": {
394
+ "w": 0.8248213132317492,
395
+ "xyz": [
396
+ 0.5636625176883543,
397
+ 0.01625182547753745,
398
+ -0.04111259612972702
399
+ ]
400
+ }
401
+ },
402
+ "grasp_29": {
403
+ "confidence": 0.9668762683868408,
404
+ "position": [
405
+ -0.00663601653650403,
406
+ 0.17785652630846016,
407
+ 0.0447201831266284
408
+ ],
409
+ "orientation": {
410
+ "w": 0.8136393627040708,
411
+ "xyz": [
412
+ 0.5802113773691047,
413
+ 0.03649480711841491,
414
+ 0.003724793061292553
415
+ ]
416
+ }
417
+ },
418
+ "grasp_30": {
419
+ "confidence": 0.965970516204834,
420
+ "position": [
421
+ 0.012311588507145643,
422
+ 0.18043286257307045,
423
+ 0.04231047537177801
424
+ ],
425
+ "orientation": {
426
+ "w": 0.7931783279519633,
427
+ "xyz": [
428
+ 0.6067115184038473,
429
+ -0.050335554483314615,
430
+ -0.0153494448851902
431
+ ]
432
+ }
433
+ },
434
+ "grasp_31": {
435
+ "confidence": 0.9656508564949036,
436
+ "position": [
437
+ 0.005994291510432959,
438
+ 0.1784399067691993,
439
+ 0.050851366482675076
440
+ ],
441
+ "orientation": {
442
+ "w": 0.7956159428812936,
443
+ "xyz": [
444
+ 0.6037708228040481,
445
+ -0.0031249035673388548,
446
+ -0.049460084323900436
447
+ ]
448
+ }
449
+ },
450
+ "grasp_33": {
451
+ "confidence": 0.965481162071228,
452
+ "position": [
453
+ -0.007398874033242464,
454
+ 0.17574504666845314,
455
+ 0.023613902740180492
456
+ ],
457
+ "orientation": {
458
+ "w": 0.8474981202889772,
459
+ "xyz": [
460
+ 0.5298033396956323,
461
+ 0.030391613388151106,
462
+ 0.011476375284436699
463
+ ]
464
+ }
465
+ },
466
+ "grasp_34": {
467
+ "confidence": 0.9646859169006348,
468
+ "position": [
469
+ -0.008099269587546587,
470
+ 0.17830201142351143,
471
+ 0.021993975155055523
472
+ ],
473
+ "orientation": {
474
+ "w": 0.8163252011144061,
475
+ "xyz": [
476
+ 0.5740077668107346,
477
+ 0.010875122027057649,
478
+ 0.0633244138336434
479
+ ]
480
+ }
481
+ },
482
+ "grasp_35": {
483
+ "confidence": 0.9641627073287964,
484
+ "position": [
485
+ 0.0050591672770679,
486
+ 0.18122853987733833,
487
+ 0.051151505671441555
488
+ ],
489
+ "orientation": {
490
+ "w": 0.7897823718284647,
491
+ "xyz": [
492
+ 0.6127768738087185,
493
+ -0.010522341395800106,
494
+ -0.02525051298031851
495
+ ]
496
+ }
497
+ },
498
+ "grasp_36": {
499
+ "confidence": 0.9640461206436157,
500
+ "position": [
501
+ -0.017568788956850767,
502
+ 0.17820728474180214,
503
+ 0.05372483190149069
504
+ ],
505
+ "orientation": {
506
+ "w": 0.7906703936036814,
507
+ "xyz": [
508
+ 0.6062355341668179,
509
+ 0.0697263332200092,
510
+ 0.0495685812563196
511
+ ]
512
+ }
513
+ },
514
+ "grasp_38": {
515
+ "confidence": 0.9634647369384766,
516
+ "position": [
517
+ -0.006553738843649626,
518
+ 0.1835663979582023,
519
+ 0.03776748385280371
520
+ ],
521
+ "orientation": {
522
+ "w": 0.7795103090419807,
523
+ "xyz": [
524
+ 0.6250015757231666,
525
+ 0.027551494082565076,
526
+ 0.031266973225002985
527
+ ]
528
+ }
529
+ },
530
+ "grasp_39": {
531
+ "confidence": 0.963058352470398,
532
+ "position": [
533
+ 0.008488146122545004,
534
+ 0.17742704504053108,
535
+ 0.010090607218444347
536
+ ],
537
+ "orientation": {
538
+ "w": 0.8440090025593665,
539
+ "xyz": [
540
+ 0.53437916303549,
541
+ -0.011695061239238469,
542
+ -0.04416943801819432
543
+ ]
544
+ }
545
+ }
546
+ }
547
+ },
548
+ {
549
+ "part_name": "side carry handle",
550
+ "mask_color": "Purple",
551
+ "graspable": true,
552
+ "grasp_scenarios": [
553
+ {
554
+ "scenario": "grasp the side handle to lift and carry the sprayer",
555
+ "confidence": 0.93
556
+ },
557
+ {
558
+ "scenario": "hold the handle to aim and stabilize the sprayer during use",
559
+ "confidence": 0.87
560
+ }
561
+ ],
562
+ "functional_labels": [
563
+ "provide a primary grip",
564
+ "lift and carry the sprayer",
565
+ "control orientation while spraying",
566
+ "stabilize during use"
567
+ ],
568
+ "semantic_description": "Curved black plastic side handle with a matte finish and smooth hard surface, medium length and mounted beside the upper head for one-handed carrying.",
569
+ "id": 5,
570
+ "grasp_group": {}
571
+ },
572
+ {
573
+ "part_name": "reservoir body",
574
+ "mask_color": "Yellow",
575
+ "graspable": true,
576
+ "grasp_scenarios": [
577
+ {
578
+ "scenario": "grasp the cylindrical body to pick up the sprayer",
579
+ "confidence": 0.76
580
+ },
581
+ {
582
+ "scenario": "hold the body to stabilize the sprayer while pumping the top knob",
583
+ "confidence": 0.83
584
+ }
585
+ ],
586
+ "functional_labels": [
587
+ "contain liquid",
588
+ "provide the main structural volume",
589
+ "support filling and storage",
590
+ "offer a secondary grasp surface"
591
+ ],
592
+ "semantic_description": "Large translucent milky-white to frosted plastic bottle body with a smooth slightly glossy hard surface, rounded cylindrical shape, and visible molded measurement marks on one side.",
593
+ "id": 3,
594
+ "grasp_group": {}
595
+ },
596
+ {
597
+ "part_name": "nozzle tip",
598
+ "mask_color": "Orange",
599
+ "graspable": false,
600
+ "grasp_scenarios": [],
601
+ "functional_labels": [
602
+ "direct the liquid stream",
603
+ "set spray outlet direction",
604
+ "serve as the dispensing opening"
605
+ ],
606
+ "semantic_description": "Small brass-colored tip at the front of the sprayer, metallic and slightly reflective with a hard smooth surface, projecting horizontally from the upper head.",
607
+ "id": 4,
608
+ "grasp_group": {}
609
+ },
610
+ {
611
+ "part_name": "trigger lever",
612
+ "mask_color": "Blue",
613
+ "graspable": false,
614
+ "grasp_scenarios": [],
615
+ "functional_labels": [
616
+ "actuate fluid release",
617
+ "control spraying",
618
+ "provide finger leverage"
619
+ ],
620
+ "semantic_description": "Slim black plastic lever with a matte finish and smooth hard texture, positioned near the upper head as the squeeze-actuated trigger.",
621
+ "id": 2,
622
+ "grasp_group": {}
623
+ },
624
+ {
625
+ "part_name": "nozzle collar",
626
+ "mask_color": "Pink",
627
+ "graspable": true,
628
+ "grasp_scenarios": [
629
+ {
630
+ "scenario": "grasp and twist the front collar to adjust the spray pattern",
631
+ "confidence": 0.62
632
+ }
633
+ ],
634
+ "functional_labels": [
635
+ "adjust spray setting",
636
+ "connect nozzle tip to head",
637
+ "enable tightening or loosening"
638
+ ],
639
+ "semantic_description": "Small light pink to pale lavender ring-shaped collar near the brass nozzle tip, likely plastic, with a smooth slightly glossy hard surface and short cylindrical form.",
640
+ "id": 8,
641
+ "grasp_group": {
642
+ "grasp_68": {
643
+ "confidence": 0.7144023776054382,
644
+ "position": [
645
+ -0.018592025619000196,
646
+ -0.11859693474252708,
647
+ 0.17612685170024633
648
+ ],
649
+ "orientation": {
650
+ "w": 0.40250821330534103,
651
+ "xyz": [
652
+ -0.9092123419309989,
653
+ 0.07148886525907983,
654
+ -0.07879973125626354
655
+ ]
656
+ }
657
+ },
658
+ "grasp_72": {
659
+ "confidence": 0.657016396522522,
660
+ "position": [
661
+ 0.01734509924426675,
662
+ -0.06527224279125221,
663
+ 0.21628433372825384
664
+ ],
665
+ "orientation": {
666
+ "w": 0.08009459440748876,
667
+ "xyz": [
668
+ -0.9918091731199487,
669
+ -0.06278662571073537,
670
+ 0.07718328636229267
671
+ ]
672
+ }
673
+ },
674
+ "grasp_74": {
675
+ "confidence": 0.8583332300186157,
676
+ "position": [
677
+ -0.018249775748699903,
678
+ -0.08398369050701149,
679
+ 0.2148121139034629
680
+ ],
681
+ "orientation": {
682
+ "w": 0.17613003175716194,
683
+ "xyz": [
684
+ -0.9804232274426964,
685
+ 0.027024224404385455,
686
+ -0.08377468770105415
687
+ ]
688
+ }
689
+ }
690
+ }
691
+ },
692
+ {
693
+ "part_name": "measurement scale",
694
+ "mask_color": "Cyan",
695
+ "graspable": false,
696
+ "grasp_scenarios": [],
697
+ "functional_labels": [
698
+ "indicate fill level",
699
+ "support dosing or mixing",
700
+ "provide volume reference"
701
+ ],
702
+ "semantic_description": "Thin vertical set of light molded or printed markings on the side of the translucent body, small and flush with the surface, serving as a fill-level indicator.",
703
+ "id": 6,
704
+ "grasp_group": {}
705
+ }
706
+ ],
707
+ "quality_check": {
708
+ "success": false,
709
+ "message": "Trigger is realistically graspable/pressable; nozzle collar color description mismatches RGB; one scenario overstates side handle use for aiming."
710
+ }
711
+ }
dataset/livingroom_supplies/ornaments/68171487d2145a7ab744c12dbce62f44/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49128e72aefce241baf3bd008274ea9c9ec103d4551937a3b5296ee044cf5d35
3
+ size 3782248