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
a6e4fb1
·
verified ·
1 Parent(s): d3baa28

Add asset livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/affordance_annot.json +876 -0
  3. dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7758,3 +7758,4 @@ dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/affordanc
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
7760
  dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/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
7760
  dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7761
+ dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/affordance_annot.json ADDED
@@ -0,0 +1,876 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "watering can body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body from the sides to pick up or reposition the can when lightly filled",
10
+ "confidence": 0.72
11
+ },
12
+ {
13
+ "scenario": "stabilize the can by clamping the body while another gripper uses the handle or pump top",
14
+ "confidence": 0.63
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain water",
19
+ "main structural shell",
20
+ "support attached spout and handle",
21
+ "provide large contact surface for stabilization"
22
+ ],
23
+ "semantic_description": "Large tapered light-purple plastic reservoir with a smooth slightly matte hard surface, forming the central body of the watering can and showing white printed volume markings on one side.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_1": {
27
+ "confidence": 0.946068286895752,
28
+ "position": [
29
+ -0.023756714479532093,
30
+ -0.14805633714422584,
31
+ -0.020633352920413017
32
+ ],
33
+ "orientation": {
34
+ "w": 0.08737062612414029,
35
+ "xyz": [
36
+ 0.10141185123667218,
37
+ 0.4601220690958794,
38
+ 0.8777070648287808
39
+ ]
40
+ }
41
+ },
42
+ "grasp_2": {
43
+ "confidence": 0.9446664452552795,
44
+ "position": [
45
+ -0.006432271504309028,
46
+ -0.14759651711210608,
47
+ -0.024605004116892815
48
+ ],
49
+ "orientation": {
50
+ "w": 0.9176995131203292,
51
+ "xyz": [
52
+ -0.39500366972369716,
53
+ 0.016327916356772332,
54
+ -0.03915486778127381
55
+ ]
56
+ }
57
+ },
58
+ "grasp_3": {
59
+ "confidence": 0.9436203241348267,
60
+ "position": [
61
+ -0.026796992809977382,
62
+ -0.13577073207125068,
63
+ -0.028803417459130287
64
+ ],
65
+ "orientation": {
66
+ "w": 0.9409513898725622,
67
+ "xyz": [
68
+ -0.30068052427163366,
69
+ 0.15510816514242876,
70
+ 0.011965004253139363
71
+ ]
72
+ }
73
+ },
74
+ "grasp_4": {
75
+ "confidence": 0.9434580206871033,
76
+ "position": [
77
+ -0.011077945993747562,
78
+ -0.1561813591979444,
79
+ -0.010338107123970985
80
+ ],
81
+ "orientation": {
82
+ "w": 0.8533962048665805,
83
+ "xyz": [
84
+ -0.5181572387732118,
85
+ 0.0312119419228567,
86
+ -0.04747428891139161
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.9405972957611084,
92
+ "position": [
93
+ -0.022202828840818256,
94
+ -0.1580991088412702,
95
+ -0.0021750517189502716
96
+ ],
97
+ "orientation": {
98
+ "w": 0.8457680102917594,
99
+ "xyz": [
100
+ -0.5220918005692899,
101
+ 0.08955621249130485,
102
+ -0.06384598146827157
103
+ ]
104
+ }
105
+ },
106
+ "grasp_6": {
107
+ "confidence": 0.940161943435669,
108
+ "position": [
109
+ -0.0017739033210091293,
110
+ -0.14898253371939063,
111
+ -0.020608654245734215
112
+ ],
113
+ "orientation": {
114
+ "w": 0.9034279992023097,
115
+ "xyz": [
116
+ -0.4284992197528945,
117
+ 0.0059687960555304675,
118
+ -0.013063016578112742
119
+ ]
120
+ }
121
+ },
122
+ "grasp_7": {
123
+ "confidence": 0.9367151260375977,
124
+ "position": [
125
+ 0.007589738874230534,
126
+ -0.1553026526235044,
127
+ -0.016425637528300285
128
+ ],
129
+ "orientation": {
130
+ "w": 0.04747044237864324,
131
+ "xyz": [
132
+ 0.041127681346941565,
133
+ -0.45244880210704785,
134
+ -0.8895758272341364
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9335153102874756,
140
+ "position": [
141
+ 0.0028404861805029213,
142
+ -0.14693293860182166,
143
+ -0.028775183483958244
144
+ ],
145
+ "orientation": {
146
+ "w": 0.902653215488703,
147
+ "xyz": [
148
+ -0.4302909439094164,
149
+ -0.007969691348372332,
150
+ -0.001833078629096814
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.9326977729797363,
156
+ "position": [
157
+ 0.0015497003332711756,
158
+ -0.15273039927706122,
159
+ -0.022078564390540123
160
+ ],
161
+ "orientation": {
162
+ "w": 0.06481874885128534,
163
+ "xyz": [
164
+ 0.002498707926606132,
165
+ -0.443157737265123,
166
+ -0.8940936786255158
167
+ ]
168
+ }
169
+ },
170
+ "grasp_13": {
171
+ "confidence": 0.926872730255127,
172
+ "position": [
173
+ -0.025513207481708378,
174
+ -0.13914355030283332,
175
+ -0.019079478457570076
176
+ ],
177
+ "orientation": {
178
+ "w": 0.9169729634739685,
179
+ "xyz": [
180
+ -0.37977067537986636,
181
+ 0.10311938990749236,
182
+ -0.06558360926630456
183
+ ]
184
+ }
185
+ },
186
+ "grasp_14": {
187
+ "confidence": 0.9241549372673035,
188
+ "position": [
189
+ 0.0026165720191784203,
190
+ -0.14865944674238563,
191
+ -0.018855763599276543
192
+ ],
193
+ "orientation": {
194
+ "w": 0.8762992891493413,
195
+ "xyz": [
196
+ -0.4812648742938957,
197
+ -0.020579540928414297,
198
+ -0.007756229909931353
199
+ ]
200
+ }
201
+ },
202
+ "grasp_15": {
203
+ "confidence": 0.9240273833274841,
204
+ "position": [
205
+ -0.006565334217157215,
206
+ -0.1318065165542066,
207
+ -0.041490448638796806
208
+ ],
209
+ "orientation": {
210
+ "w": 0.9514908649152471,
211
+ "xyz": [
212
+ -0.29699356108010067,
213
+ 0.016238247669392303,
214
+ -0.07871644029313725
215
+ ]
216
+ }
217
+ },
218
+ "grasp_16": {
219
+ "confidence": 0.9231675267219543,
220
+ "position": [
221
+ -0.017810549528803676,
222
+ -0.1610164879821241,
223
+ -0.00046513229608535767
224
+ ],
225
+ "orientation": {
226
+ "w": 0.7778841191533337,
227
+ "xyz": [
228
+ -0.6231122101326563,
229
+ 0.06883889740922577,
230
+ -0.04345891112442355
231
+ ]
232
+ }
233
+ },
234
+ "grasp_17": {
235
+ "confidence": 0.9221723675727844,
236
+ "position": [
237
+ 0.019670486508402973,
238
+ -0.1316396384499967,
239
+ -0.04087125323712826
240
+ ],
241
+ "orientation": {
242
+ "w": 0.9426886176001575,
243
+ "xyz": [
244
+ -0.3220450634011242,
245
+ -0.07749346945940128,
246
+ 0.04024810029323222
247
+ ]
248
+ }
249
+ },
250
+ "grasp_18": {
251
+ "confidence": 0.921596884727478,
252
+ "position": [
253
+ 0.01294102898100391,
254
+ -0.16047091176733375,
255
+ -0.002081720158457756
256
+ ],
257
+ "orientation": {
258
+ "w": 0.8187930332328714,
259
+ "xyz": [
260
+ -0.5692376733555206,
261
+ -0.0641130487966598,
262
+ 0.03789402243236226
263
+ ]
264
+ }
265
+ },
266
+ "grasp_19": {
267
+ "confidence": 0.918642520904541,
268
+ "position": [
269
+ 0.011790650023613125,
270
+ -0.13876130571588874,
271
+ -0.03134782798588276
272
+ ],
273
+ "orientation": {
274
+ "w": 0.9195956438456321,
275
+ "xyz": [
276
+ -0.388738389677962,
277
+ -0.04398035333192296,
278
+ 0.035945023737945496
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "handle",
286
+ "mask_color": "Purple",
287
+ "graspable": true,
288
+ "grasp_scenarios": [
289
+ {
290
+ "scenario": "grasp the handle to lift and carry the watering can",
291
+ "confidence": 0.95
292
+ },
293
+ {
294
+ "scenario": "hold the handle to control tilt while pouring water",
295
+ "confidence": 0.93
296
+ }
297
+ ],
298
+ "functional_labels": [
299
+ "provide a carrying grip",
300
+ "control pouring angle",
301
+ "support lifting the filled can"
302
+ ],
303
+ "semantic_description": "Tall arched light-purple plastic handle with a smooth hard surface, medium thickness, and rear-side placement connecting the upper neck area to the lower body.",
304
+ "id": 5,
305
+ "grasp_group": {
306
+ "grasp_85": {
307
+ "confidence": 0.30854344367980957,
308
+ "position": [
309
+ 0.031785594357643276,
310
+ 0.0707616270519793,
311
+ -0.10441525466740131
312
+ ],
313
+ "orientation": {
314
+ "w": 0.9880881138543226,
315
+ "xyz": [
316
+ 0.01213465625403357,
317
+ -0.13195721164015906,
318
+ -0.0782427228153359
319
+ ]
320
+ }
321
+ },
322
+ "grasp_87": {
323
+ "confidence": 0.28036755323410034,
324
+ "position": [
325
+ 0.04591350076952949,
326
+ 0.08462526509538293,
327
+ -0.09765269048511982
328
+ ],
329
+ "orientation": {
330
+ "w": 0.9734644244970553,
331
+ "xyz": [
332
+ 0.09658211133468365,
333
+ -0.19341751273414987,
334
+ -0.0750238347226155
335
+ ]
336
+ }
337
+ }
338
+ }
339
+ },
340
+ {
341
+ "part_name": "pump handle",
342
+ "mask_color": "Blue",
343
+ "graspable": true,
344
+ "grasp_scenarios": [
345
+ {
346
+ "scenario": "grasp the top pump handle to press it downward for pumping",
347
+ "confidence": 0.91
348
+ },
349
+ {
350
+ "scenario": "lightly grasp the pump handle to lift or steady the lightweight can for short repositioning",
351
+ "confidence": 0.56
352
+ }
353
+ ],
354
+ "functional_labels": [
355
+ "actuate the internal pump",
356
+ "build pressure in the container",
357
+ "provide top control interface"
358
+ ],
359
+ "semantic_description": "Dark-purple plastic top pump handle with a smooth hard finish, mounted horizontally at the top and shaped like a short T-style pressing grip.",
360
+ "id": 2,
361
+ "grasp_group": {
362
+ "grasp_40": {
363
+ "confidence": 0.933143675327301,
364
+ "position": [
365
+ 0.012449473200831562,
366
+ 0.06602525571361184,
367
+ 0.20288719795644283
368
+ ],
369
+ "orientation": {
370
+ "w": 0.3340997095778791,
371
+ "xyz": [
372
+ 0.9407099363250796,
373
+ -0.011429793056966953,
374
+ -0.057546151825439054
375
+ ]
376
+ }
377
+ },
378
+ "grasp_41": {
379
+ "confidence": 0.9276129603385925,
380
+ "position": [
381
+ 0.018491463793907315,
382
+ 0.08333555469289422,
383
+ 0.18943641148507595
384
+ ],
385
+ "orientation": {
386
+ "w": 0.3969768231688399,
387
+ "xyz": [
388
+ 0.9131319654514336,
389
+ -0.007130413784067313,
390
+ -0.09245849196717999
391
+ ]
392
+ }
393
+ },
394
+ "grasp_42": {
395
+ "confidence": 0.9273638725280762,
396
+ "position": [
397
+ 0.014306296652648598,
398
+ 0.05857241014018655,
399
+ 0.20519406162202358
400
+ ],
401
+ "orientation": {
402
+ "w": 0.2903524106334944,
403
+ "xyz": [
404
+ 0.9530459230794363,
405
+ 0.019642049492550162,
406
+ -0.08374446866937542
407
+ ]
408
+ }
409
+ },
410
+ "grasp_43": {
411
+ "confidence": 0.9266265034675598,
412
+ "position": [
413
+ 0.0123701803968288,
414
+ 0.08120255777612329,
415
+ 0.1832351591438055
416
+ ],
417
+ "orientation": {
418
+ "w": 0.4549583681082498,
419
+ "xyz": [
420
+ 0.8888063790409536,
421
+ -0.014661880279906392,
422
+ -0.053114340163886775
423
+ ]
424
+ }
425
+ },
426
+ "grasp_44": {
427
+ "confidence": 0.9238443970680237,
428
+ "position": [
429
+ 0.015356285555753857,
430
+ 0.09496543416753411,
431
+ 0.1741455551236868
432
+ ],
433
+ "orientation": {
434
+ "w": 0.0882648057605604,
435
+ "xyz": [
436
+ 0.03963897790650945,
437
+ -0.8588047596131738,
438
+ 0.5030829557442157
439
+ ]
440
+ }
441
+ },
442
+ "grasp_45": {
443
+ "confidence": 0.922841489315033,
444
+ "position": [
445
+ -0.005747958493884653,
446
+ 0.07610073545947671,
447
+ 0.19490941427648067
448
+ ],
449
+ "orientation": {
450
+ "w": 0.3968121898608115,
451
+ "xyz": [
452
+ 0.9157419800425014,
453
+ 0.06092862329828125,
454
+ 0.015633772055475108
455
+ ]
456
+ }
457
+ },
458
+ "grasp_46": {
459
+ "confidence": 0.9226610064506531,
460
+ "position": [
461
+ -0.001961425121407956,
462
+ 0.08485741028562188,
463
+ 0.18624783121049404
464
+ ],
465
+ "orientation": {
466
+ "w": 0.45067156970710637,
467
+ "xyz": [
468
+ 0.8925334167094005,
469
+ -0.015083992192390538,
470
+ 0.00719093139421199
471
+ ]
472
+ }
473
+ },
474
+ "grasp_47": {
475
+ "confidence": 0.9216749668121338,
476
+ "position": [
477
+ 0.012264574004802853,
478
+ 0.07803895184770226,
479
+ 0.18917644582688808
480
+ ],
481
+ "orientation": {
482
+ "w": 0.39524663095911267,
483
+ "xyz": [
484
+ 0.9132036062244747,
485
+ 0.07181820762820762,
486
+ -0.06842089846791714
487
+ ]
488
+ }
489
+ },
490
+ "grasp_48": {
491
+ "confidence": 0.9208725094795227,
492
+ "position": [
493
+ 0.003519068064633757,
494
+ 0.08366101095452905,
495
+ 0.1832891758531332
496
+ ],
497
+ "orientation": {
498
+ "w": 0.4531504683447178,
499
+ "xyz": [
500
+ 0.8913625313492495,
501
+ 0.0038072654546127405,
502
+ -0.010629932990357966
503
+ ]
504
+ }
505
+ },
506
+ "grasp_49": {
507
+ "confidence": 0.9174150824546814,
508
+ "position": [
509
+ 0.014840733318123966,
510
+ 0.09084902564063668,
511
+ 0.1857729461044073
512
+ ],
513
+ "orientation": {
514
+ "w": 0.4577091042154989,
515
+ "xyz": [
516
+ 0.8870921226981376,
517
+ -0.02873915728912102,
518
+ -0.052383228265058895
519
+ ]
520
+ }
521
+ },
522
+ "grasp_50": {
523
+ "confidence": 0.9161838889122009,
524
+ "position": [
525
+ 0.011412328167352825,
526
+ 0.08276171842589974,
527
+ 0.18113990686833858
528
+ ],
529
+ "orientation": {
530
+ "w": 0.4463855494412174,
531
+ "xyz": [
532
+ 0.890735877151887,
533
+ 0.05687914448381037,
534
+ -0.0639867277434224
535
+ ]
536
+ }
537
+ },
538
+ "grasp_51": {
539
+ "confidence": 0.9152849912643433,
540
+ "position": [
541
+ 0.008924808411393315,
542
+ 0.07116041937842965,
543
+ 0.20258917473256588
544
+ ],
545
+ "orientation": {
546
+ "w": 0.32857942653441186,
547
+ "xyz": [
548
+ 0.9439131531574232,
549
+ -0.011902665695046055,
550
+ -0.03036192194312044
551
+ ]
552
+ }
553
+ },
554
+ "grasp_52": {
555
+ "confidence": 0.9140926599502563,
556
+ "position": [
557
+ 0.012559994182083756,
558
+ 0.06428564200177789,
559
+ 0.20647541247308254
560
+ ],
561
+ "orientation": {
562
+ "w": 0.3014847403704365,
563
+ "xyz": [
564
+ 0.9512743789320315,
565
+ 0.004877386451219323,
566
+ -0.06449975513638502
567
+ ]
568
+ }
569
+ },
570
+ "grasp_53": {
571
+ "confidence": 0.9135400652885437,
572
+ "position": [
573
+ 0.014339471294078976,
574
+ -0.01485756179317832,
575
+ 0.22224893234670162
576
+ ],
577
+ "orientation": {
578
+ "w": 0.07047011601936494,
579
+ "xyz": [
580
+ -0.0646794766044939,
581
+ -0.990667970079559,
582
+ -0.09709531972670822
583
+ ]
584
+ }
585
+ },
586
+ "grasp_54": {
587
+ "confidence": 0.9108303189277649,
588
+ "position": [
589
+ 0.013381091004703194,
590
+ 0.08513189712539315,
591
+ 0.18569671176373959
592
+ ],
593
+ "orientation": {
594
+ "w": 0.10575277248850425,
595
+ "xyz": [
596
+ 0.02694548766574145,
597
+ -0.9060283656548868,
598
+ 0.4089045028294327
599
+ ]
600
+ }
601
+ },
602
+ "grasp_55": {
603
+ "confidence": 0.9085341095924377,
604
+ "position": [
605
+ -0.003980494278948754,
606
+ 0.07435063878074288,
607
+ 0.1997725274413824
608
+ ],
609
+ "orientation": {
610
+ "w": 0.35784459954553344,
611
+ "xyz": [
612
+ 0.9333629897229049,
613
+ 0.017714378805575637,
614
+ 0.021609552867888338
615
+ ]
616
+ }
617
+ },
618
+ "grasp_56": {
619
+ "confidence": 0.9076881408691406,
620
+ "position": [
621
+ 0.013235398626420647,
622
+ -0.017897421028465033,
623
+ 0.21954483352601528
624
+ ],
625
+ "orientation": {
626
+ "w": 0.06241144131183849,
627
+ "xyz": [
628
+ -0.03567529359141087,
629
+ -0.9940900567584162,
630
+ -0.08134521789628676
631
+ ]
632
+ }
633
+ },
634
+ "grasp_57": {
635
+ "confidence": 0.9076787233352661,
636
+ "position": [
637
+ 0.0011424231925047934,
638
+ -0.014682774897664785,
639
+ 0.22018974088132381
640
+ ],
641
+ "orientation": {
642
+ "w": 0.08098635915192721,
643
+ "xyz": [
644
+ -0.9943659884973197,
645
+ 0.0675093999629746,
646
+ 0.010953148757430654
647
+ ]
648
+ }
649
+ },
650
+ "grasp_58": {
651
+ "confidence": 0.9063819050788879,
652
+ "position": [
653
+ 0.01108633732656017,
654
+ 0.10104821482673287,
655
+ 0.16321017406880856
656
+ ],
657
+ "orientation": {
658
+ "w": 0.5591667094423036,
659
+ "xyz": [
660
+ 0.8274202122901553,
661
+ 0.007164084415658856,
662
+ -0.05154667050029711
663
+ ]
664
+ }
665
+ },
666
+ "grasp_59": {
667
+ "confidence": 0.9050428867340088,
668
+ "position": [
669
+ 0.022765638364944607,
670
+ 0.025824105832725763,
671
+ 0.21767947636544704
672
+ ],
673
+ "orientation": {
674
+ "w": 0.11931604679208366,
675
+ "xyz": [
676
+ -0.07849585911564423,
677
+ -0.9801050506358663,
678
+ 0.13782659684426982
679
+ ]
680
+ }
681
+ }
682
+ }
683
+ },
684
+ {
685
+ "part_name": "screw cap",
686
+ "mask_color": "Green",
687
+ "graspable": true,
688
+ "grasp_scenarios": [
689
+ {
690
+ "scenario": "grasp and twist the ribbed cap to open or tighten the fill opening",
691
+ "confidence": 0.88
692
+ },
693
+ {
694
+ "scenario": "hold the cap area to stabilize the neck while manipulating the pump handle",
695
+ "confidence": 0.5
696
+ }
697
+ ],
698
+ "functional_labels": [
699
+ "close the fill opening",
700
+ "secure the pump assembly",
701
+ "provide a twist interface",
702
+ "seal the top of the container"
703
+ ],
704
+ "semantic_description": "Cylindrical light-purple plastic cap with ribbed side texture and matte hard finish, wrapped around the top neck below the pump handle.",
705
+ "id": 1,
706
+ "grasp_group": {
707
+ "grasp_24": {
708
+ "confidence": 0.10987625271081924,
709
+ "position": [
710
+ -0.08138046594103798,
711
+ 0.011818342376500368,
712
+ 0.14279120229184628
713
+ ],
714
+ "orientation": {
715
+ "w": 0.36605731814338754,
716
+ "xyz": [
717
+ 0.6595409960182629,
718
+ 0.5734834490962496,
719
+ 0.3195691599913505
720
+ ]
721
+ }
722
+ },
723
+ "grasp_31": {
724
+ "confidence": 0.09798283129930496,
725
+ "position": [
726
+ -0.10066789569100365,
727
+ 0.011161005590111017,
728
+ 0.05789177305996418
729
+ ],
730
+ "orientation": {
731
+ "w": 0.5816708816855246,
732
+ "xyz": [
733
+ 0.4621451012968687,
734
+ 0.33569585250418477,
735
+ 0.579127952492349
736
+ ]
737
+ }
738
+ }
739
+ }
740
+ },
741
+ {
742
+ "part_name": "pump stem",
743
+ "mask_color": "Orange",
744
+ "graspable": false,
745
+ "grasp_scenarios": [],
746
+ "functional_labels": [
747
+ "connect pump handle to cap",
748
+ "transmit pumping motion",
749
+ "support top actuator"
750
+ ],
751
+ "semantic_description": "Small narrow light-purple plastic connector with a smooth hard surface, positioned vertically between the pump handle and the screw cap at the top center.",
752
+ "id": 4,
753
+ "grasp_group": {}
754
+ },
755
+ {
756
+ "part_name": "spout",
757
+ "mask_color": "Yellow",
758
+ "graspable": true,
759
+ "grasp_scenarios": [
760
+ {
761
+ "scenario": "grasp the spout near its base to stabilize or reorient the can during inspection",
762
+ "confidence": 0.42
763
+ },
764
+ {
765
+ "scenario": "lightly hold the spout while another gripper opens the cap or steadies the body",
766
+ "confidence": 0.37
767
+ }
768
+ ],
769
+ "functional_labels": [
770
+ "channel water from the body to the outlet head",
771
+ "position the water outlet away from the body",
772
+ "support the sprinkler rose at the tip"
773
+ ],
774
+ "semantic_description": "Light-purple plastic pouring spout extending diagonally from the front of the body and ending in a broad round outlet head, with a smooth slightly matte hard surface.",
775
+ "id": 3,
776
+ "grasp_group": {
777
+ "grasp_60": {
778
+ "confidence": 0.927204966545105,
779
+ "position": [
780
+ 0.012716242170426995,
781
+ -0.1795481233857572,
782
+ 0.017819619737565517
783
+ ],
784
+ "orientation": {
785
+ "w": 0.08822383697848947,
786
+ "xyz": [
787
+ 0.05175715735670105,
788
+ -0.5112624537158074,
789
+ -0.8533161516528553
790
+ ]
791
+ }
792
+ },
793
+ "grasp_67": {
794
+ "confidence": 0.9053189158439636,
795
+ "position": [
796
+ -0.044818321184720844,
797
+ -0.1713967709802091,
798
+ 0.032166595570743084
799
+ ],
800
+ "orientation": {
801
+ "w": 0.8267956702167871,
802
+ "xyz": [
803
+ -0.4818680032806629,
804
+ 0.2889530689088733,
805
+ 0.026800580091195767
806
+ ]
807
+ }
808
+ },
809
+ "grasp_70": {
810
+ "confidence": 0.8999078273773193,
811
+ "position": [
812
+ -0.01432617282262072,
813
+ -0.19228648534044623,
814
+ 0.05789944343268871
815
+ ],
816
+ "orientation": {
817
+ "w": 0.754726537130206,
818
+ "xyz": [
819
+ -0.6417149385935973,
820
+ 0.12354892310997379,
821
+ 0.05766676109883044
822
+ ]
823
+ }
824
+ },
825
+ "grasp_72": {
826
+ "confidence": 0.8978918194770813,
827
+ "position": [
828
+ -0.00018046607146970928,
829
+ -0.18659032275900245,
830
+ 0.02456489996984601
831
+ ],
832
+ "orientation": {
833
+ "w": 0.12448780292572742,
834
+ "xyz": [
835
+ -0.06608303926135789,
836
+ -0.5317878743399512,
837
+ -0.8350673479125524
838
+ ]
839
+ }
840
+ }
841
+ }
842
+ },
843
+ {
844
+ "part_name": "sprinkler rose",
845
+ "mask_color": "Magenta",
846
+ "graspable": false,
847
+ "grasp_scenarios": [],
848
+ "functional_labels": [
849
+ "disperse water into a gentle spray",
850
+ "spread flow across a wider area",
851
+ "reduce outlet stream intensity"
852
+ ],
853
+ "semantic_description": "Round light-purple shower head face with many small perforations, a smooth hard plastic finish, and a broad disk shape at the spout tip.",
854
+ "id": 7,
855
+ "grasp_group": {}
856
+ },
857
+ {
858
+ "part_name": "neck ring",
859
+ "mask_color": "Cyan",
860
+ "graspable": false,
861
+ "grasp_scenarios": [],
862
+ "functional_labels": [
863
+ "join cap area to body",
864
+ "provide a sealing transition",
865
+ "support top assembly alignment"
866
+ ],
867
+ "semantic_description": "Thin light-purple ring at the top opening with a smooth hard plastic surface, forming a narrow transition between the body and the screw cap.",
868
+ "id": 6,
869
+ "grasp_group": {}
870
+ }
871
+ ],
872
+ "quality_check": {
873
+ "success": true,
874
+ "message": "YES"
875
+ }
876
+ }
dataset/livingroom_supplies/ornaments/c8d1cb9dc57b59bfafada489453c7361/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32286e5fa8ea37c94e87a8d767bcacab6a800111af359f0d08df043922909f6e
3
+ size 3782192