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
96a5b2d
·
verified ·
1 Parent(s): b417d81

Add asset livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/affordance/affordance_annot.json +686 -0
  3. dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7701,3 +7701,4 @@ dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/affordanc
7701
  dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7702
  dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7703
  dataset/livingroom_supplies/ornaments/5e1ae336079b56eda734bdcc6be6d97c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7701
  dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7702
  dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7703
  dataset/livingroom_supplies/ornaments/5e1ae336079b56eda734bdcc6be6d97c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7704
+ dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/affordance/affordance_annot.json ADDED
@@ -0,0 +1,686 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spout and integrated top handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the curved top handle/spout to lift and carry the small watering bottle",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the curved top piece to orient the nozzle while pouring or dispensing",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "pick up the object from above using the integrated top piece as the primary grasp point",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grip",
23
+ "support lifting",
24
+ "form the dispensing spout",
25
+ "control pouring angle",
26
+ "connect nozzle assembly to bottle"
27
+ ],
28
+ "semantic_description": "Large curved black plastic top piece with a matte to satin finish and smooth surface, combining a handle-like upper section with a forward spout over the small pink bottle.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_26": {
32
+ "confidence": 0.9492834210395813,
33
+ "position": [
34
+ 0.023308507865294814,
35
+ 0.2259668204933405,
36
+ -0.003569134227291215
37
+ ],
38
+ "orientation": {
39
+ "w": 0.6411586534118195,
40
+ "xyz": [
41
+ 0.757242486747111,
42
+ -0.11039763109976286,
43
+ -0.05754789716187793
44
+ ]
45
+ }
46
+ }
47
+ }
48
+ },
49
+ {
50
+ "part_name": "upper bottle body",
51
+ "mask_color": "Red",
52
+ "graspable": true,
53
+ "grasp_scenarios": [
54
+ {
55
+ "scenario": "grasp the upper bottle body to pick up or steady the container when the top handle is unavailable",
56
+ "confidence": 0.72
57
+ },
58
+ {
59
+ "scenario": "stabilize the body while adjusting the front nozzle",
60
+ "confidence": 0.79
61
+ }
62
+ ],
63
+ "functional_labels": [
64
+ "contain liquid",
65
+ "support overall structure",
66
+ "provide side stabilization",
67
+ "connect neck to main bottle"
68
+ ],
69
+ "semantic_description": "Rounded pink plastic upper reservoir section with a smooth slightly glossy surface and compact cylindrical form beneath the black top assembly.",
70
+ "id": 0,
71
+ "grasp_group": {}
72
+ },
73
+ {
74
+ "part_name": "lower bottle body",
75
+ "mask_color": "Cyan",
76
+ "graspable": true,
77
+ "grasp_scenarios": [
78
+ {
79
+ "scenario": "grasp the lower bottle body to lift the container",
80
+ "confidence": 0.75
81
+ },
82
+ {
83
+ "scenario": "hold the lower body to stabilize the object during filling or nozzle adjustment",
84
+ "confidence": 0.76
85
+ }
86
+ ],
87
+ "functional_labels": [
88
+ "contain liquid",
89
+ "form main reservoir",
90
+ "provide bulk support",
91
+ "offer secondary grasp surface"
92
+ ],
93
+ "semantic_description": "Lower pink plastic container wall with a smooth semi-gloss finish and cylindrical shape, forming the main body of the bottle and carrying printed black branding on one side.",
94
+ "id": 6,
95
+ "grasp_group": {}
96
+ },
97
+ {
98
+ "part_name": "base",
99
+ "mask_color": "Orange",
100
+ "graspable": false,
101
+ "grasp_scenarios": [],
102
+ "functional_labels": [
103
+ "support upright standing",
104
+ "close the container bottom",
105
+ "provide stability"
106
+ ],
107
+ "semantic_description": "Flat circular pink plastic bottom with a smooth hard surface and slightly recessed center, forming the stable underside of the container.",
108
+ "id": 4,
109
+ "grasp_group": {}
110
+ },
111
+ {
112
+ "part_name": "nozzle collar",
113
+ "mask_color": "Yellow",
114
+ "graspable": true,
115
+ "grasp_scenarios": [
116
+ {
117
+ "scenario": "grasp the front collar to adjust or unscrew the nozzle assembly",
118
+ "confidence": 0.74
119
+ },
120
+ {
121
+ "scenario": "pinch the collar during maintenance or cleaning of the nozzle",
122
+ "confidence": 0.58
123
+ }
124
+ ],
125
+ "functional_labels": [
126
+ "secure nozzle tip",
127
+ "enable nozzle adjustment",
128
+ "connect front nozzle pieces"
129
+ ],
130
+ "semantic_description": "Small light pink plastic collar at the front of the black spout, with a smooth hard surface and short cylindrical ring-like shape around the nozzle assembly.",
131
+ "id": 3,
132
+ "grasp_group": {
133
+ "grasp_40": {
134
+ "confidence": 0.7978764176368713,
135
+ "position": [
136
+ 0.005573217524215579,
137
+ -0.08835398219525814,
138
+ 0.20721273589879274
139
+ ],
140
+ "orientation": {
141
+ "w": 0.04398543282180734,
142
+ "xyz": [
143
+ -0.9976820909730303,
144
+ 0.021830439767392906,
145
+ 0.047107949973676504
146
+ ]
147
+ }
148
+ },
149
+ "grasp_42": {
150
+ "confidence": 0.7917008996009827,
151
+ "position": [
152
+ 0.005199539242312312,
153
+ -0.06663749925792217,
154
+ 0.21001551020890474
155
+ ],
156
+ "orientation": {
157
+ "w": 0.06743121240520258,
158
+ "xyz": [
159
+ 0.9968564417054816,
160
+ -0.012835623730095155,
161
+ -0.03956656400686804
162
+ ]
163
+ }
164
+ },
165
+ "grasp_43": {
166
+ "confidence": 0.7881023287773132,
167
+ "position": [
168
+ 0.011974293505772948,
169
+ -0.047445883974432945,
170
+ 0.2013646261766553
171
+ ],
172
+ "orientation": {
173
+ "w": 0.16439368339492008,
174
+ "xyz": [
175
+ 0.9843768906599711,
176
+ -0.014852468482220854,
177
+ -0.061288320049113686
178
+ ]
179
+ }
180
+ },
181
+ "grasp_44": {
182
+ "confidence": 0.7832595705986023,
183
+ "position": [
184
+ 0.008237061789259315,
185
+ -0.04721510969102383,
186
+ 0.20289251673966646
187
+ ],
188
+ "orientation": {
189
+ "w": 0.060171914689298736,
190
+ "xyz": [
191
+ -0.06349127432698846,
192
+ -0.983015242845275,
193
+ 0.16133577129949822
194
+ ]
195
+ }
196
+ },
197
+ "grasp_49": {
198
+ "confidence": 0.7707070708274841,
199
+ "position": [
200
+ 0.01177609502337873,
201
+ -0.11177256517112255,
202
+ 0.20345445442944765
203
+ ],
204
+ "orientation": {
205
+ "w": 0.14125412085601224,
206
+ "xyz": [
207
+ -0.9852604852208366,
208
+ 0.05475352797511068,
209
+ 0.07944243688278439
210
+ ]
211
+ }
212
+ },
213
+ "grasp_52": {
214
+ "confidence": 0.7645263671875,
215
+ "position": [
216
+ -0.012048485921695828,
217
+ -0.0762230958789587,
218
+ 0.21221150923520327
219
+ ],
220
+ "orientation": {
221
+ "w": 0.02991821514532077,
222
+ "xyz": [
223
+ -0.047065321106030324,
224
+ 0.9982911028784857,
225
+ -0.0174536490557507
226
+ ]
227
+ }
228
+ },
229
+ "grasp_53": {
230
+ "confidence": 0.7640327215194702,
231
+ "position": [
232
+ 0.009797705104574561,
233
+ -0.12361597083508968,
234
+ 0.2014346020296216
235
+ ],
236
+ "orientation": {
237
+ "w": 0.19859117463015338,
238
+ "xyz": [
239
+ -0.977581253748812,
240
+ 0.023946013634484398,
241
+ 0.0657497232612735
242
+ ]
243
+ }
244
+ },
245
+ "grasp_56": {
246
+ "confidence": 0.7603797912597656,
247
+ "position": [
248
+ -0.014440501341596246,
249
+ -0.06366485171020031,
250
+ 0.20437200833112001
251
+ ],
252
+ "orientation": {
253
+ "w": 0.09094310654170737,
254
+ "xyz": [
255
+ 0.9945300195067094,
256
+ 0.021863297853333782,
257
+ 0.04649072896292595
258
+ ]
259
+ }
260
+ },
261
+ "grasp_57": {
262
+ "confidence": 0.7598869204521179,
263
+ "position": [
264
+ 0.01708416803739965,
265
+ -0.10662367008626461,
266
+ 0.19648215640336275
267
+ ],
268
+ "orientation": {
269
+ "w": 0.13018240634734604,
270
+ "xyz": [
271
+ -0.06232937799402701,
272
+ -0.983615164770268,
273
+ -0.10802220767254483
274
+ ]
275
+ }
276
+ },
277
+ "grasp_59": {
278
+ "confidence": 0.7582387924194336,
279
+ "position": [
280
+ -0.021582098910585046,
281
+ -0.10129951499402523,
282
+ 0.20793760288506746
283
+ ],
284
+ "orientation": {
285
+ "w": 0.08036254177238454,
286
+ "xyz": [
287
+ -0.9933011495663386,
288
+ -0.01746718553148012,
289
+ -0.08117626241507185
290
+ ]
291
+ }
292
+ }
293
+ }
294
+ },
295
+ {
296
+ "part_name": "nozzle ring",
297
+ "mask_color": "Purple",
298
+ "graspable": true,
299
+ "grasp_scenarios": [
300
+ {
301
+ "scenario": "pinch the ring to help rotate or loosen the front nozzle parts",
302
+ "confidence": 0.5
303
+ }
304
+ ],
305
+ "functional_labels": [
306
+ "separate nozzle sections",
307
+ "assist adjustment",
308
+ "retain front fitting"
309
+ ],
310
+ "semantic_description": "Thin darker pink to mauve ring between the black spout and the front collar, with a smooth hard surface and narrow circular band shape near the nozzle.",
311
+ "id": 5,
312
+ "grasp_group": {
313
+ "grasp_60": {
314
+ "confidence": 0.7926428318023682,
315
+ "position": [
316
+ 0.012334899744018912,
317
+ -0.04300752840936184,
318
+ 0.20374216604977846
319
+ ],
320
+ "orientation": {
321
+ "w": 0.13579844832789775,
322
+ "xyz": [
323
+ 0.9869793540553335,
324
+ -0.009344273583176216,
325
+ -0.0856925939125119
326
+ ]
327
+ }
328
+ },
329
+ "grasp_61": {
330
+ "confidence": 0.7879987359046936,
331
+ "position": [
332
+ 0.013726582517847419,
333
+ -0.035720622166991234,
334
+ 0.2010577218607068
335
+ ],
336
+ "orientation": {
337
+ "w": 0.16180032911976658,
338
+ "xyz": [
339
+ 0.9829754249355069,
340
+ -0.015250653104027734,
341
+ -0.08571688893966867
342
+ ]
343
+ }
344
+ },
345
+ "grasp_62": {
346
+ "confidence": 0.7719572186470032,
347
+ "position": [
348
+ 0.0031786204781383276,
349
+ -0.03237994946539402,
350
+ 0.20192639995366335
351
+ ],
352
+ "orientation": {
353
+ "w": 0.16601254881316518,
354
+ "xyz": [
355
+ 0.9847795165578777,
356
+ 0.04680954580288385,
357
+ -0.021401023954873623
358
+ ]
359
+ }
360
+ },
361
+ "grasp_63": {
362
+ "confidence": 0.7441032528877258,
363
+ "position": [
364
+ 0.01656021154485643,
365
+ -0.037836821749806404,
366
+ 0.20577145088464022
367
+ ],
368
+ "orientation": {
369
+ "w": 0.10704314178690735,
370
+ "xyz": [
371
+ 0.9894588891494753,
372
+ 0.02189218563661538,
373
+ -0.09504527703955844
374
+ ]
375
+ }
376
+ },
377
+ "grasp_64": {
378
+ "confidence": 0.7234920263290405,
379
+ "position": [
380
+ 0.02377086109481752,
381
+ -0.02973571978509426,
382
+ 0.19810130167752504
383
+ ],
384
+ "orientation": {
385
+ "w": 0.15059839641343897,
386
+ "xyz": [
387
+ 0.9786263541898327,
388
+ -0.030108446288437563,
389
+ -0.13676279956520754
390
+ ]
391
+ }
392
+ },
393
+ "grasp_65": {
394
+ "confidence": 0.7177921533584595,
395
+ "position": [
396
+ -0.007700857939198613,
397
+ -0.053732024505734444,
398
+ 0.2058376418426633
399
+ ],
400
+ "orientation": {
401
+ "w": 0.02504428259220864,
402
+ "xyz": [
403
+ 0.0388485337055041,
404
+ 0.9984766986585266,
405
+ -0.030130674973235384
406
+ ]
407
+ }
408
+ },
409
+ "grasp_66": {
410
+ "confidence": 0.7125336527824402,
411
+ "position": [
412
+ 0.008969051530584693,
413
+ -0.05384008027613163,
414
+ 0.20258060563355684
415
+ ],
416
+ "orientation": {
417
+ "w": 0.0629210179870364,
418
+ "xyz": [
419
+ -0.016826330391397117,
420
+ -0.997492413525972,
421
+ 0.027689439488119548
422
+ ]
423
+ }
424
+ },
425
+ "grasp_67": {
426
+ "confidence": 0.707985520362854,
427
+ "position": [
428
+ -0.006498495116829872,
429
+ -0.04164416156709194,
430
+ 0.20262593496590853
431
+ ],
432
+ "orientation": {
433
+ "w": 0.11787951475554696,
434
+ "xyz": [
435
+ 0.9924815170971636,
436
+ 0.025556358159447026,
437
+ 0.020778132234048192
438
+ ]
439
+ }
440
+ },
441
+ "grasp_68": {
442
+ "confidence": 0.7074217200279236,
443
+ "position": [
444
+ -0.016875881934538484,
445
+ -0.05224849842488766,
446
+ 0.21466047037392855
447
+ ],
448
+ "orientation": {
449
+ "w": 0.05941044945407542,
450
+ "xyz": [
451
+ -0.0008220023749400294,
452
+ 0.9948673096523525,
453
+ -0.08190701430799349
454
+ ]
455
+ }
456
+ },
457
+ "grasp_69": {
458
+ "confidence": 0.7029480934143066,
459
+ "position": [
460
+ 0.003172521246597171,
461
+ -0.022051064297556877,
462
+ 0.19867481756955385
463
+ ],
464
+ "orientation": {
465
+ "w": 0.032423131411148165,
466
+ "xyz": [
467
+ -0.05436399037146525,
468
+ -0.9766270922639484,
469
+ 0.20540890865892908
470
+ ]
471
+ }
472
+ },
473
+ "grasp_70": {
474
+ "confidence": 0.6976240277290344,
475
+ "position": [
476
+ 0.011074894806370139,
477
+ -0.051879143342375755,
478
+ 0.20119162369519472
479
+ ],
480
+ "orientation": {
481
+ "w": 0.07556329806591662,
482
+ "xyz": [
483
+ -0.09244867194102341,
484
+ -0.991441514962102,
485
+ 0.05279349819243478
486
+ ]
487
+ }
488
+ },
489
+ "grasp_71": {
490
+ "confidence": 0.6904199123382568,
491
+ "position": [
492
+ -0.006366624031215906,
493
+ -0.0176442451775074,
494
+ 0.19698490668088198
495
+ ],
496
+ "orientation": {
497
+ "w": 0.24851285871767642,
498
+ "xyz": [
499
+ 0.9682811452792037,
500
+ -0.0022660147675764852,
501
+ 0.02584275383613252
502
+ ]
503
+ }
504
+ },
505
+ "grasp_72": {
506
+ "confidence": 0.6880001425743103,
507
+ "position": [
508
+ -0.01060310541652143,
509
+ -0.04824368096888065,
510
+ 0.20650397706776857
511
+ ],
512
+ "orientation": {
513
+ "w": 0.04005464363678691,
514
+ "xyz": [
515
+ -0.00032817309579673135,
516
+ 0.9987215166151288,
517
+ -0.03083585697732096
518
+ ]
519
+ }
520
+ },
521
+ "grasp_73": {
522
+ "confidence": 0.6819053888320923,
523
+ "position": [
524
+ -0.010385442292317748,
525
+ -0.036687737330794334,
526
+ 0.20579848159104586
527
+ ],
528
+ "orientation": {
529
+ "w": 0.13304738471751426,
530
+ "xyz": [
531
+ 0.9873405770843321,
532
+ -0.08000525521604307,
533
+ 0.032498267652655004
534
+ ]
535
+ }
536
+ },
537
+ "grasp_74": {
538
+ "confidence": 0.6769325137138367,
539
+ "position": [
540
+ -0.02889911667443812,
541
+ -0.035173820331692696,
542
+ 0.20138673949986696
543
+ ],
544
+ "orientation": {
545
+ "w": 0.1507256692950698,
546
+ "xyz": [
547
+ 0.9813908069777754,
548
+ 0.04466020749392402,
549
+ 0.11026931786160524
550
+ ]
551
+ }
552
+ },
553
+ "grasp_75": {
554
+ "confidence": 0.6762420535087585,
555
+ "position": [
556
+ -0.013833143981173635,
557
+ -0.07767762057483196,
558
+ 0.20390673447400331
559
+ ],
560
+ "orientation": {
561
+ "w": 0.08159041140109417,
562
+ "xyz": [
563
+ -0.995583228130893,
564
+ -0.008857561748300768,
565
+ -0.04559149297561706
566
+ ]
567
+ }
568
+ },
569
+ "grasp_76": {
570
+ "confidence": 0.6720743179321289,
571
+ "position": [
572
+ -0.0034277667000424117,
573
+ -0.06426387093961239,
574
+ 0.2041676538065076
575
+ ],
576
+ "orientation": {
577
+ "w": 0.04573306609388621,
578
+ "xyz": [
579
+ -0.9987056020068458,
580
+ -0.019606399027443044,
581
+ -0.010544965764421863
582
+ ]
583
+ }
584
+ },
585
+ "grasp_77": {
586
+ "confidence": 0.6686073541641235,
587
+ "position": [
588
+ -0.0074350652284920216,
589
+ -0.042119575664401054,
590
+ 0.19895232189446688
591
+ ],
592
+ "orientation": {
593
+ "w": 0.11973630778096468,
594
+ "xyz": [
595
+ 0.992651291549948,
596
+ 0.008868181600193398,
597
+ 0.015099183365610589
598
+ ]
599
+ }
600
+ },
601
+ "grasp_78": {
602
+ "confidence": 0.6588653922080994,
603
+ "position": [
604
+ -0.013517465675249696,
605
+ -0.03200705163180828,
606
+ 0.198163871653378
607
+ ],
608
+ "orientation": {
609
+ "w": 0.1686112319127051,
610
+ "xyz": [
611
+ 0.983357507311439,
612
+ 0.04458956213594614,
613
+ 0.050892398603698354
614
+ ]
615
+ }
616
+ },
617
+ "grasp_79": {
618
+ "confidence": 0.6565485596656799,
619
+ "position": [
620
+ 0.02573863579891622,
621
+ -0.028430940583348274,
622
+ 0.20371555257588625
623
+ ],
624
+ "orientation": {
625
+ "w": 0.14285135832358545,
626
+ "xyz": [
627
+ 0.9791284550439188,
628
+ -0.00257120921880466,
629
+ -0.14454876973384623
630
+ ]
631
+ }
632
+ }
633
+ }
634
+ },
635
+ {
636
+ "part_name": "spray tip",
637
+ "mask_color": "Lime Green",
638
+ "graspable": true,
639
+ "grasp_scenarios": [
640
+ {
641
+ "scenario": "delicately grasp the small tip to adjust the outlet opening",
642
+ "confidence": 0.4
643
+ }
644
+ ],
645
+ "functional_labels": [
646
+ "dispense water",
647
+ "shape the flow",
648
+ "direct liquid outward"
649
+ ],
650
+ "semantic_description": "Tiny light pink plastic outlet tip at the very front, with a smooth hard surface and short protruding cylindrical shape sized for liquid discharge.",
651
+ "id": 9,
652
+ "grasp_group": {}
653
+ },
654
+ {
655
+ "part_name": "neck band",
656
+ "mask_color": "Teal",
657
+ "graspable": false,
658
+ "grasp_scenarios": [],
659
+ "functional_labels": [
660
+ "join top assembly to bottle",
661
+ "seal transition area",
662
+ "reinforce neck"
663
+ ],
664
+ "semantic_description": "Narrow dark band around the bottle neck under the black top piece, appearing black or very dark purple in the RGB image, with a smooth hard surface and thin circular profile.",
665
+ "id": 10,
666
+ "grasp_group": {}
667
+ },
668
+ {
669
+ "part_name": "printed brand mark",
670
+ "mask_color": "Blue",
671
+ "graspable": false,
672
+ "grasp_scenarios": [],
673
+ "functional_labels": [
674
+ "branding",
675
+ "visual identification"
676
+ ],
677
+ "semantic_description": "Dark printed brand marking on the side of the pink bottle body, appearing as part of the surface graphic rather than a separate structural component.",
678
+ "id": 2,
679
+ "grasp_group": {}
680
+ }
681
+ ],
682
+ "quality_check": {
683
+ "success": false,
684
+ "message": "Mask colors and part identities mismatch for nozzle pieces; top green part is handle/spout only, yellow is collar, lime is tip."
685
+ }
686
+ }
dataset/livingroom_supplies/ornaments/5e2d0faa4a9b5339b5b95c08220cd082/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa75b41649ddbcefa7fe035c680fc24597388158b3da9930643c2be00d25359d
3
+ size 37373812