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
1
xinjjj commited on
Commit
a6e92d7
·
verified ·
1 Parent(s): 33ab1d9

Add asset kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/affordance_annot.json +854 -0
  3. dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8379,3 +8379,4 @@ dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordan
8379
  dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8380
  dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8381
  dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8379
  dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8380
  dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8381
  dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8382
+ dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/affordance_annot.json ADDED
@@ -0,0 +1,854 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "right handle grip",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp this handle together with the opposite handle to pick up and operate the pliers",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold this handle while squeezing the other handle to actuate the jaws",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "use this handle as one contact point for stabilizing the tool during repositioning",
18
+ "confidence": 0.78
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide handhold for manipulation",
23
+ "transmit squeezing force to jaws",
24
+ "support opening and closing motion",
25
+ "improve grip comfort"
26
+ ],
27
+ "semantic_description": "Elongated handle grip with a red outer frame and black rubberized inner surface, matte and slightly textured, gently curved and extending from one side of the pivot.",
28
+ "id": 2,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9654967188835144,
32
+ "position": [
33
+ 0.052450092043727636,
34
+ -0.1011392067593988,
35
+ 0.0014137520920485258
36
+ ],
37
+ "orientation": {
38
+ "w": 0.3729834093245784,
39
+ "xyz": [
40
+ -0.5997729401704609,
41
+ 0.37283354205611796,
42
+ 0.6017897859932353
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9592136144638062,
48
+ "position": [
49
+ 0.05860317265614867,
50
+ -0.09818667577928863,
51
+ -0.004810004727914929
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3614823947976211,
55
+ "xyz": [
56
+ -0.6087595111690756,
57
+ 0.33767317235463856,
58
+ 0.6202573373080879
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9570638537406921,
64
+ "position": [
65
+ 0.05812952434644103,
66
+ -0.09849802809185348,
67
+ -0.0018708116840571165
68
+ ],
69
+ "orientation": {
70
+ "w": 0.3551101805295694,
71
+ "xyz": [
72
+ -0.6124683299063198,
73
+ 0.34173801576198803,
74
+ 0.6180569821052742
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9553936123847961,
80
+ "position": [
81
+ 0.053748448844999075,
82
+ -0.1000546257419046,
83
+ -0.003630123334005475
84
+ ],
85
+ "orientation": {
86
+ "w": 0.3615144865919822,
87
+ "xyz": [
88
+ -0.5994283684647764,
89
+ 0.3529500402727397,
90
+ 0.6208213721637356
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9336751103401184,
96
+ "position": [
97
+ -0.09952415386214852,
98
+ -0.09934312509722076,
99
+ -0.0030343346297740936
100
+ ],
101
+ "orientation": {
102
+ "w": 0.6065951164558505,
103
+ "xyz": [
104
+ -0.3530417330955173,
105
+ 0.6157809992003449,
106
+ 0.3580749368618971
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9231839776039124,
112
+ "position": [
113
+ -0.13225758681073785,
114
+ -0.06571440803236328,
115
+ -0.002011089352890849
116
+ ],
117
+ "orientation": {
118
+ "w": 0.6714365609389639,
119
+ "xyz": [
120
+ -0.18082334820301418,
121
+ 0.685270111735302,
122
+ 0.21651959574457752
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9194847345352173,
128
+ "position": [
129
+ -0.1329666287638247,
130
+ -0.06476495074457489,
131
+ -8.699715544935316e-05
132
+ ],
133
+ "orientation": {
134
+ "w": 0.20113050152764475,
135
+ "xyz": [
136
+ -0.6791221425633283,
137
+ -0.18612663916045258,
138
+ -0.6809526496242359
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9151022434234619,
144
+ "position": [
145
+ -0.14332089433446527,
146
+ -0.0010454078146722168,
147
+ 0.002917484613135457
148
+ ],
149
+ "orientation": {
150
+ "w": 0.08351311639804458,
151
+ "xyz": [
152
+ 0.71424825793221,
153
+ 0.034532805056636584,
154
+ 0.6940334795996592
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9118555784225464,
160
+ "position": [
161
+ -0.14712441572919488,
162
+ -0.009710538521176204,
163
+ -0.002565772971138358
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6981370902484751,
167
+ "xyz": [
168
+ 0.02209759923899451,
169
+ 0.715099637509643,
170
+ 0.027364352008439397
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9084111452102661,
176
+ "position": [
177
+ -0.14676073798909783,
178
+ -0.012636958010261878,
179
+ 0.002879936946555972
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6993015675023533,
183
+ "xyz": [
184
+ 0.00792807335376513,
185
+ 0.7144636449616787,
186
+ 0.02135798140558105
187
+ ]
188
+ }
189
+ },
190
+ "grasp_14": {
191
+ "confidence": 0.8911256790161133,
192
+ "position": [
193
+ -0.13898110995069146,
194
+ -0.029091798089211807,
195
+ 0.00032241761800833046
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6955949913976074,
199
+ "xyz": [
200
+ -0.03441535033254858,
201
+ 0.7131595106154831,
202
+ 0.0797916287760553
203
+ ]
204
+ }
205
+ },
206
+ "grasp_16": {
207
+ "confidence": 0.880627453327179,
208
+ "position": [
209
+ -0.13635050365701318,
210
+ -0.06417241352028213,
211
+ -0.000903483247384429
212
+ ],
213
+ "orientation": {
214
+ "w": 0.6845837304646621,
215
+ "xyz": [
216
+ -0.16973920464480552,
217
+ 0.6764682789925764,
218
+ 0.21195373529724978
219
+ ]
220
+ }
221
+ },
222
+ "grasp_18": {
223
+ "confidence": 0.8682092428207397,
224
+ "position": [
225
+ -0.14154902705922723,
226
+ -0.024039345182245597,
227
+ -0.00223375647328794
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6952745038794187,
231
+ "xyz": [
232
+ -0.006561953113976697,
233
+ 0.7161981873521223,
234
+ 0.06008711559138505
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.8562984466552734,
240
+ "position": [
241
+ -0.1321756006218493,
242
+ -0.06882339375442825,
243
+ 0.003276947420090437
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6762591469745494,
247
+ "xyz": [
248
+ -0.19157863842589234,
249
+ 0.6781756554308005,
250
+ 0.21459024165404392
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "left handle grip",
258
+ "mask_color": "Purple",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp this handle together with the opposite handle to pick up and operate the pliers",
263
+ "confidence": 0.95
264
+ },
265
+ {
266
+ "scenario": "hold this handle while squeezing the other handle to actuate the jaws",
267
+ "confidence": 0.88
268
+ },
269
+ {
270
+ "scenario": "use this handle as one contact point for stabilizing the tool during repositioning",
271
+ "confidence": 0.78
272
+ }
273
+ ],
274
+ "functional_labels": [
275
+ "provide handhold for manipulation",
276
+ "transmit squeezing force to jaws",
277
+ "support opening and closing motion",
278
+ "improve grip comfort"
279
+ ],
280
+ "semantic_description": "Elongated handle grip with a red outer frame and black rubberized inner surface, matte and slightly textured, gently curved and extending from the opposite side of the pivot.",
281
+ "id": 5,
282
+ "grasp_group": {
283
+ "grasp_40": {
284
+ "confidence": 0.8912981748580933,
285
+ "position": [
286
+ -0.14157194504514337,
287
+ 0.014516840368742123,
288
+ 0.004307661904022098
289
+ ],
290
+ "orientation": {
291
+ "w": 0.6953994979378446,
292
+ "xyz": [
293
+ 0.029147143072869863,
294
+ 0.7176387679586759,
295
+ 0.023760914149861735
296
+ ]
297
+ }
298
+ },
299
+ "grasp_43": {
300
+ "confidence": 0.914909839630127,
301
+ "position": [
302
+ -0.13178773829713464,
303
+ 0.06565624070935883,
304
+ -0.001083333627320826
305
+ ],
306
+ "orientation": {
307
+ "w": 0.6753200961233393,
308
+ "xyz": [
309
+ 0.18254968038552963,
310
+ 0.6870231149341988,
311
+ -0.1965136674870607
312
+ ]
313
+ }
314
+ },
315
+ "grasp_44": {
316
+ "confidence": 0.9085684418678284,
317
+ "position": [
318
+ -0.14647755632176995,
319
+ 0.012409192189807072,
320
+ 0.0013523936504498124
321
+ ],
322
+ "orientation": {
323
+ "w": 0.6955858713655197,
324
+ "xyz": [
325
+ 0.01160842997309261,
326
+ 0.7181747977149606,
327
+ 0.015827186651626274
328
+ ]
329
+ }
330
+ },
331
+ "grasp_45": {
332
+ "confidence": 0.8993062376976013,
333
+ "position": [
334
+ -0.1484850556589663,
335
+ 0.018400452710920945,
336
+ 0.0016497501637786627
337
+ ],
338
+ "orientation": {
339
+ "w": 0.6976849408093586,
340
+ "xyz": [
341
+ 0.020282164410769656,
342
+ 0.716099347499399,
343
+ 0.005107023163360276
344
+ ]
345
+ }
346
+ },
347
+ "grasp_47": {
348
+ "confidence": 0.8738929033279419,
349
+ "position": [
350
+ -0.13752431282773614,
351
+ 0.06600437653833069,
352
+ -0.0014211996458470821
353
+ ],
354
+ "orientation": {
355
+ "w": 0.680090283060743,
356
+ "xyz": [
357
+ 0.1768864258753395,
358
+ 0.6874657411838735,
359
+ -0.18324642950386288
360
+ ]
361
+ }
362
+ },
363
+ "grasp_51": {
364
+ "confidence": 0.9077883362770081,
365
+ "position": [
366
+ -0.13482083985581994,
367
+ 0.06124607069068588,
368
+ -0.006129807094112039
369
+ ],
370
+ "orientation": {
371
+ "w": 0.6859448046426394,
372
+ "xyz": [
373
+ 0.16415123458102399,
374
+ 0.6834484143686081,
375
+ -0.1882348587970144
376
+ ]
377
+ }
378
+ },
379
+ "grasp_58": {
380
+ "confidence": 0.794350802898407,
381
+ "position": [
382
+ -0.10066665569320321,
383
+ 0.09061737699084915,
384
+ 0.04187807976268232
385
+ ],
386
+ "orientation": {
387
+ "w": 0.21324109765899976,
388
+ "xyz": [
389
+ 0.6983305788831903,
390
+ -0.4655880254123256,
391
+ 0.5000904192828582
392
+ ]
393
+ }
394
+ },
395
+ "grasp_59": {
396
+ "confidence": 0.954052746295929,
397
+ "position": [
398
+ 0.036341975908726454,
399
+ 0.09996367586427368,
400
+ 0.01882309070788324
401
+ ],
402
+ "orientation": {
403
+ "w": 0.5706138229964105,
404
+ "xyz": [
405
+ 0.4527529718820098,
406
+ -0.621035633470896,
407
+ 0.28936024850838077
408
+ ]
409
+ }
410
+ }
411
+ }
412
+ },
413
+ {
414
+ "part_name": "plier head and jaws",
415
+ "mask_color": "Cyan",
416
+ "graspable": true,
417
+ "grasp_scenarios": [
418
+ {
419
+ "scenario": "grasp the closed metal head to pick up the tool when the handles are obstructed",
420
+ "confidence": 0.38
421
+ },
422
+ {
423
+ "scenario": "hold near the head for fine orientation during placement or inspection",
424
+ "confidence": 0.34
425
+ }
426
+ ],
427
+ "functional_labels": [
428
+ "grip small objects with the serrated jaws",
429
+ "position the working tip precisely",
430
+ "transfer force from handles to working end"
431
+ ],
432
+ "semantic_description": "Bright silver metal head with a smooth reflective finish, tapered plier-jaw shape with serrated gripping teeth, located at the front of the tool ahead of the pivot.",
433
+ "id": 6,
434
+ "grasp_group": {
435
+ "grasp_63": {
436
+ "confidence": 0.9840379953384399,
437
+ "position": [
438
+ 0.04131201049312949,
439
+ 0.09958888930850662,
440
+ 0.0022501065395772457
441
+ ],
442
+ "orientation": {
443
+ "w": 0.47752665578406583,
444
+ "xyz": [
445
+ 0.514864449988433,
446
+ 0.5063262185642005,
447
+ -0.5005163848949126
448
+ ]
449
+ }
450
+ },
451
+ "grasp_64": {
452
+ "confidence": 0.9836165904998779,
453
+ "position": [
454
+ 0.06478990381583571,
455
+ 0.09267375213676132,
456
+ -0.00020142807625234127
457
+ ],
458
+ "orientation": {
459
+ "w": 0.42350623935233084,
460
+ "xyz": [
461
+ 0.5647082972441894,
462
+ 0.42540495370401377,
463
+ -0.5663723418541027
464
+ ]
465
+ }
466
+ },
467
+ "grasp_65": {
468
+ "confidence": 0.9815736413002014,
469
+ "position": [
470
+ 0.031063105445355177,
471
+ 0.10045703841024078,
472
+ -0.010221723699942231
473
+ ],
474
+ "orientation": {
475
+ "w": 0.5235481839253826,
476
+ "xyz": [
477
+ 0.4663232887475957,
478
+ 0.49818092605661257,
479
+ -0.510152579522476
480
+ ]
481
+ }
482
+ },
483
+ "grasp_66": {
484
+ "confidence": 0.9812240600585938,
485
+ "position": [
486
+ 0.08377512684091926,
487
+ 0.0904944796639029,
488
+ 0.0022823370527476072
489
+ ],
490
+ "orientation": {
491
+ "w": 0.36091798484208654,
492
+ "xyz": [
493
+ 0.6056664534313845,
494
+ 0.38406107718306715,
495
+ -0.5961572312723871
496
+ ]
497
+ }
498
+ },
499
+ "grasp_67": {
500
+ "confidence": 0.9811415076255798,
501
+ "position": [
502
+ 0.0839397325180471,
503
+ 0.090826529689366,
504
+ 0.0007728204946033657
505
+ ],
506
+ "orientation": {
507
+ "w": 0.3616148815115216,
508
+ "xyz": [
509
+ 0.6059179401115924,
510
+ 0.38395207836144707,
511
+ -0.5955492665113925
512
+ ]
513
+ }
514
+ },
515
+ "grasp_68": {
516
+ "confidence": 0.9810640811920166,
517
+ "position": [
518
+ 0.06693202769383788,
519
+ 0.09987868709140457,
520
+ -0.007509069750085473
521
+ ],
522
+ "orientation": {
523
+ "w": 0.43976473995072957,
524
+ "xyz": [
525
+ 0.5532335574689043,
526
+ 0.4070478744798802,
527
+ -0.5786636607458425
528
+ ]
529
+ }
530
+ },
531
+ "grasp_69": {
532
+ "confidence": 0.9805220365524292,
533
+ "position": [
534
+ 0.08448097994551063,
535
+ 0.09019046617322601,
536
+ -0.001720740576274693
537
+ ],
538
+ "orientation": {
539
+ "w": 0.363647777118934,
540
+ "xyz": [
541
+ 0.6000476660253152,
542
+ 0.3756472198760016,
543
+ -0.6054686275055554
544
+ ]
545
+ }
546
+ },
547
+ "grasp_71": {
548
+ "confidence": 0.9799088835716248,
549
+ "position": [
550
+ 0.08484504511579871,
551
+ 0.09202416581683792,
552
+ -0.001481901854276657
553
+ ],
554
+ "orientation": {
555
+ "w": 0.3632685340982157,
556
+ "xyz": [
557
+ 0.6041190586591356,
558
+ 0.37016267306504125,
559
+ -0.6050253966308166
560
+ ]
561
+ }
562
+ },
563
+ "grasp_72": {
564
+ "confidence": 0.9782845377922058,
565
+ "position": [
566
+ 0.09558951994404197,
567
+ 0.08882163060479797,
568
+ -0.0010679704137146473
569
+ ],
570
+ "orientation": {
571
+ "w": 0.6223317047649707,
572
+ "xyz": [
573
+ 0.36469708413455687,
574
+ -0.6007918956385333,
575
+ 0.3445988743497806
576
+ ]
577
+ }
578
+ },
579
+ "grasp_74": {
580
+ "confidence": 0.9778113961219788,
581
+ "position": [
582
+ 0.08304299553856254,
583
+ 0.09315029127174057,
584
+ -0.0059522532392293215
585
+ ],
586
+ "orientation": {
587
+ "w": 0.6161350178429504,
588
+ "xyz": [
589
+ 0.36764535511142354,
590
+ -0.5864814144101894,
591
+ 0.37583784163397643
592
+ ]
593
+ }
594
+ },
595
+ "grasp_75": {
596
+ "confidence": 0.9774870276451111,
597
+ "position": [
598
+ 0.08346700808033347,
599
+ 0.0869076956587378,
600
+ -0.004328723298385739
601
+ ],
602
+ "orientation": {
603
+ "w": 0.6203285681692466,
604
+ "xyz": [
605
+ 0.36450725630215514,
606
+ -0.5872098225159605,
607
+ 0.37082550068319403
608
+ ]
609
+ }
610
+ },
611
+ "grasp_77": {
612
+ "confidence": 0.9768075346946716,
613
+ "position": [
614
+ 0.0893362401984632,
615
+ 0.08984021437936462,
616
+ -0.009768704185262322
617
+ ],
618
+ "orientation": {
619
+ "w": 0.6285690286516306,
620
+ "xyz": [
621
+ 0.3493879543941391,
622
+ -0.59002436636839,
623
+ 0.36701536839184834
624
+ ]
625
+ }
626
+ },
627
+ "grasp_78": {
628
+ "confidence": 0.9752510190010071,
629
+ "position": [
630
+ 0.015259044710546732,
631
+ 0.10392272067838348,
632
+ 0.0019013856071978807
633
+ ],
634
+ "orientation": {
635
+ "w": 0.491265716196795,
636
+ "xyz": [
637
+ 0.5042830916733995,
638
+ 0.5123417438505073,
639
+ -0.49179517794523825
640
+ ]
641
+ }
642
+ }
643
+ }
644
+ },
645
+ {
646
+ "part_name": "jaw tip / toothed gripping region",
647
+ "mask_color": "Magenta",
648
+ "graspable": false,
649
+ "grasp_scenarios": [],
650
+ "functional_labels": [
651
+ "contact and grip target material",
652
+ "provide serrated traction at the jaw tip",
653
+ "assist precise holding of small objects"
654
+ ],
655
+ "semantic_description": "Narrow region along the inner jaw tip area, part of the silver metal jaws, corresponding to the toothed gripping section near the front end.",
656
+ "id": 7,
657
+ "grasp_group": {}
658
+ },
659
+ {
660
+ "part_name": "pivot joint",
661
+ "mask_color": "Green",
662
+ "graspable": false,
663
+ "grasp_scenarios": [],
664
+ "functional_labels": [
665
+ "enable hinged rotation",
666
+ "connect handles to jaws",
667
+ "serve as motion axis"
668
+ ],
669
+ "semantic_description": "Circular central pivot fastener in the middle of the tool, metallic and smooth, compact and disc-like, joining the two plier halves.",
670
+ "id": 1,
671
+ "grasp_group": {}
672
+ },
673
+ {
674
+ "part_name": "return spring",
675
+ "mask_color": "Orange",
676
+ "graspable": false,
677
+ "grasp_scenarios": [],
678
+ "functional_labels": [
679
+ "reopen handles after squeezing",
680
+ "maintain handle separation",
681
+ "assist repeated gripping motion"
682
+ ],
683
+ "semantic_description": "Short orange-brown metal spring element mounted between the handles near the pivot, compact with visible coils and a slightly glossy finish.",
684
+ "id": 4,
685
+ "grasp_group": {}
686
+ },
687
+ {
688
+ "part_name": "handle grip edge strip",
689
+ "mask_color": "Yellow",
690
+ "graspable": true,
691
+ "grasp_scenarios": [
692
+ {
693
+ "scenario": "use together with the rest of the same handle as part of a secure grasp on the pliers",
694
+ "confidence": 0.72
695
+ },
696
+ {
697
+ "scenario": "use as a contact area for stabilizing the tool within a gripper on that handle side",
698
+ "confidence": 0.61
699
+ }
700
+ ],
701
+ "functional_labels": [
702
+ "form outer edge of one handle grip",
703
+ "add grip contour",
704
+ "improve handle coverage and comfort"
705
+ ],
706
+ "semantic_description": "Thin yellow-highlighted strip running along the outer edge of one handle grip and widening near the pivot, corresponding to the colored edge portion of the red-and-black handle.",
707
+ "id": 3,
708
+ "grasp_group": {
709
+ "grasp_20": {
710
+ "confidence": 0.9283519983291626,
711
+ "position": [
712
+ -0.1470829606987536,
713
+ 0.012609929457539693,
714
+ -9.016947296913713e-05
715
+ ],
716
+ "orientation": {
717
+ "w": 0.7081600507851843,
718
+ "xyz": [
719
+ 0.0029188146397362328,
720
+ 0.7057622021351454,
721
+ -0.02001342125612023
722
+ ]
723
+ }
724
+ },
725
+ "grasp_27": {
726
+ "confidence": 0.8845751285552979,
727
+ "position": [
728
+ -0.1379289091564715,
729
+ 0.06536834282451309,
730
+ 0.0017354139126837254
731
+ ],
732
+ "orientation": {
733
+ "w": 0.6675246136534937,
734
+ "xyz": [
735
+ 0.19743898714392136,
736
+ 0.6922608051612068,
737
+ -0.19027273624955893
738
+ ]
739
+ }
740
+ },
741
+ "grasp_29": {
742
+ "confidence": 0.8530763983726501,
743
+ "position": [
744
+ -0.14104495057836175,
745
+ 0.005721379216993228,
746
+ -0.00045856874203309417
747
+ ],
748
+ "orientation": {
749
+ "w": 0.04050537206587298,
750
+ "xyz": [
751
+ -0.7071548054369422,
752
+ 0.016591489537161608,
753
+ -0.7057025708159095
754
+ ]
755
+ }
756
+ },
757
+ "grasp_33": {
758
+ "confidence": 0.12348609417676926,
759
+ "position": [
760
+ 0.08944629272446036,
761
+ 0.061555992491776124,
762
+ 0.004494480090215802
763
+ ],
764
+ "orientation": {
765
+ "w": 0.1682751550427345,
766
+ "xyz": [
767
+ 0.6657947160801168,
768
+ 0.21963438096271115,
769
+ -0.6929369429711967
770
+ ]
771
+ }
772
+ },
773
+ "grasp_34": {
774
+ "confidence": 0.97428959608078,
775
+ "position": [
776
+ 0.04821693664416671,
777
+ 0.09601611239486374,
778
+ 0.0024546117056161165
779
+ ],
780
+ "orientation": {
781
+ "w": 0.37444100884184706,
782
+ "xyz": [
783
+ 0.5966497954106601,
784
+ 0.3901418487180347,
785
+ -0.5929521822312419
786
+ ]
787
+ }
788
+ },
789
+ "grasp_36": {
790
+ "confidence": 0.9666773080825806,
791
+ "position": [
792
+ 0.007625784375704825,
793
+ 0.10829764200025238,
794
+ 0.0001127426889979688
795
+ ],
796
+ "orientation": {
797
+ "w": 0.49230887360600023,
798
+ "xyz": [
799
+ 0.499919140269435,
800
+ 0.5090340853599746,
801
+ -0.498595152506314
802
+ ]
803
+ }
804
+ },
805
+ "grasp_37": {
806
+ "confidence": 0.9596889019012451,
807
+ "position": [
808
+ 0.006892121280543506,
809
+ 0.11108900947147049,
810
+ 0.0004972239548806101
811
+ ],
812
+ "orientation": {
813
+ "w": 0.4924747065659323,
814
+ "xyz": [
815
+ 0.5069252814281952,
816
+ 0.5085170986064342,
817
+ -0.49183918394800424
818
+ ]
819
+ }
820
+ }
821
+ }
822
+ },
823
+ {
824
+ "part_name": "small circular body feature",
825
+ "mask_color": "Pink",
826
+ "graspable": false,
827
+ "grasp_scenarios": [],
828
+ "functional_labels": [
829
+ "mark or cover a small body feature",
830
+ "provide a visible small circular detail on the metal head"
831
+ ],
832
+ "semantic_description": "Small round feature on the metal head/body area, visible as a compact circular detail on the silver portion of the pliers.",
833
+ "id": 8,
834
+ "grasp_group": {}
835
+ },
836
+ {
837
+ "part_name": "small circular body feature",
838
+ "mask_color": "Red",
839
+ "graspable": false,
840
+ "grasp_scenarios": [],
841
+ "functional_labels": [
842
+ "mark or cover a small body feature",
843
+ "provide a visible small circular detail on the metal head"
844
+ ],
845
+ "semantic_description": "Small round feature on the metal head/body area, visible as a compact circular detail on the silver portion of the pliers.",
846
+ "id": 0,
847
+ "grasp_group": {}
848
+ }
849
+ ],
850
+ "quality_check": {
851
+ "success": false,
852
+ "message": "Several part identities/functions are incorrect: yellow strip is full handle, head color wrong, and small circular features misdescribed."
853
+ }
854
+ }
dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47a08884c3c5242fca8a0bae9c504fd2bb5c9701b654d44928cd4cbba9d65122
3
+ size 3784544