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
c6b5bdd
·
verified ·
1 Parent(s): bf6bb1e

Add asset bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/affordance/affordance_annot.json +656 -0
  3. dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5896,3 +5896,4 @@ dataset/bedroom_supplies/small_electronics/0692cb340e3453d7a6a00ba19e629f0e/affo
5896
  dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5897
  dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5898
  dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5896
  dataset/bedroom_supplies/small_electronics/0c4e359ce1045f17837e2306e821550e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5897
  dataset/bedroom_supplies/small_electronics/14320231bc8658d0a2a408d36683b3f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5898
  dataset/bedroom_supplies/small_electronics/180d201f5e215e09a7fd16ac9d143749/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5899
+ dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/affordance/affordance_annot.json ADDED
@@ -0,0 +1,656 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "base",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the rectangular base from the sides or underside to lift and reposition the clock",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the base to stabilize the clock while adjusting the body or rear controls",
14
+ "confidence": 0.89
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the clock upright",
19
+ "provide stable placement",
20
+ "main lifting surface",
21
+ "stabilize during adjustment"
22
+ ],
23
+ "semantic_description": "Wide rectangular metal base in aged beige-bronze color with a worn matte finish, smooth hard surfaces, rounded corners, and a heavy platform shape at the bottom of the clock.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_42": {
27
+ "confidence": 0.7360618710517883,
28
+ "position": [
29
+ 0.02059670991729945,
30
+ -0.016047106008045375,
31
+ -0.1477173026651144
32
+ ],
33
+ "orientation": {
34
+ "w": 0.9989424100825853,
35
+ "xyz": [
36
+ -0.0018733507892727448,
37
+ -0.045938341373299774,
38
+ 0.00046977344159368533
39
+ ]
40
+ }
41
+ },
42
+ "grasp_52": {
43
+ "confidence": 0.6961284279823303,
44
+ "position": [
45
+ 0.025020298431627452,
46
+ 0.011951348860748112,
47
+ -0.14063183031976223
48
+ ],
49
+ "orientation": {
50
+ "w": 0.9821025415894252,
51
+ "xyz": [
52
+ 0.16597866403738776,
53
+ -0.0828549694651246,
54
+ 0.03256892572513452
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "clock body",
62
+ "mask_color": "Magenta",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the cylindrical body from the sides to pick up the clock",
67
+ "confidence": 0.8
68
+ },
69
+ {
70
+ "scenario": "hold the body to stabilize the clock while setting or inspecting it",
71
+ "confidence": 0.84
72
+ }
73
+ ],
74
+ "functional_labels": [
75
+ "house the clock mechanism",
76
+ "support attached parts",
77
+ "enclose internal components",
78
+ "provide main structure"
79
+ ],
80
+ "semantic_description": "Rounded cylindrical clock housing in aged beige-bronze metal with a dull weathered finish, smooth hard texture, and medium size centered above the base.",
81
+ "id": 7,
82
+ "grasp_group": {
83
+ "grasp_80": {
84
+ "confidence": 0.07150552421808243,
85
+ "position": [
86
+ 0.1075805303407833,
87
+ 0.014326439355500042,
88
+ 0.0010401289910078049
89
+ ],
90
+ "orientation": {
91
+ "w": 0.44410448204265657,
92
+ "xyz": [
93
+ -0.4912958299145172,
94
+ -0.606165790309778,
95
+ 0.4404119108248
96
+ ]
97
+ }
98
+ },
99
+ "grasp_86": {
100
+ "confidence": 0.041178375482559204,
101
+ "position": [
102
+ 0.10651862889062613,
103
+ 0.02281491190660745,
104
+ 0.02533540315926075
105
+ ],
106
+ "orientation": {
107
+ "w": 0.5499068925426462,
108
+ "xyz": [
109
+ -0.45221395796066455,
110
+ -0.3467481732099723,
111
+ 0.6106313537112134
112
+ ]
113
+ }
114
+ },
115
+ "grasp_87": {
116
+ "confidence": 0.8897777795791626,
117
+ "position": [
118
+ 0.03588400676380843,
119
+ 0.1311342763947323,
120
+ 0.030969356186687946
121
+ ],
122
+ "orientation": {
123
+ "w": 0.11667847883713052,
124
+ "xyz": [
125
+ -0.1520069107488402,
126
+ -0.6267644809080296,
127
+ 0.7552789664309048
128
+ ]
129
+ }
130
+ },
131
+ "grasp_93": {
132
+ "confidence": 0.8180773258209229,
133
+ "position": [
134
+ 0.029179206932894886,
135
+ -0.1353866112185642,
136
+ 0.06969067640602589
137
+ ],
138
+ "orientation": {
139
+ "w": 0.6082171129064846,
140
+ "xyz": [
141
+ -0.7781341129399003,
142
+ -0.09342864692921382,
143
+ 0.12589810872253604
144
+ ]
145
+ }
146
+ },
147
+ "grasp_96": {
148
+ "confidence": 0.5207979083061218,
149
+ "position": [
150
+ 0.05889971076976508,
151
+ 0.1091761562274769,
152
+ 0.016398265739553608
153
+ ],
154
+ "orientation": {
155
+ "w": 0.8171740700281588,
156
+ "xyz": [
157
+ 0.48376802284365894,
158
+ -0.28311285555501786,
159
+ -0.13432107193971296
160
+ ]
161
+ }
162
+ }
163
+ }
164
+ },
165
+ {
166
+ "part_name": "clock face and front cover",
167
+ "mask_color": "Maroon",
168
+ "graspable": false,
169
+ "grasp_scenarios": [],
170
+ "functional_labels": [
171
+ "display the time",
172
+ "protect the dial",
173
+ "cover the front opening",
174
+ "provide readable front interface"
175
+ ],
176
+ "semantic_description": "Circular front dial area with a white clock face behind a smooth cover, bordered by the metal housing and marked with dark Roman numerals and blue hands.",
177
+ "id": 12,
178
+ "grasp_group": {}
179
+ },
180
+ {
181
+ "part_name": "clock hands",
182
+ "mask_color": "Teal",
183
+ "graspable": false,
184
+ "grasp_scenarios": [],
185
+ "functional_labels": [
186
+ "indicate time",
187
+ "show hour and minute position",
188
+ "provide moving time indicator"
189
+ ],
190
+ "semantic_description": "Thin blue clock hands with a smooth finish mounted at the center of the dial, including slender and broader pointers visible on the white face.",
191
+ "id": 10,
192
+ "grasp_group": {}
193
+ },
194
+ {
195
+ "part_name": "left bell",
196
+ "mask_color": "Green",
197
+ "graspable": true,
198
+ "grasp_scenarios": [
199
+ {
200
+ "scenario": "lightly pinch the bell to steady the top of the clock during manipulation",
201
+ "confidence": 0.3
202
+ },
203
+ {
204
+ "scenario": "carefully grasp the bell for slight repositioning when better grasp points are unavailable",
205
+ "confidence": 0.22
206
+ }
207
+ ],
208
+ "functional_labels": [
209
+ "produce alarm sound",
210
+ "resonate when struck",
211
+ "form part of the alarm assembly"
212
+ ],
213
+ "semantic_description": "Domed metal bell in aged beige-bronze color with a matte worn finish, smooth hard surface, and rounded shape mounted on the top left.",
214
+ "id": 1,
215
+ "grasp_group": {
216
+ "grasp_20": {
217
+ "confidence": 0.9388933181762695,
218
+ "position": [
219
+ -0.009753815014846623,
220
+ -0.1272418153239414,
221
+ 0.12110589630901814
222
+ ],
223
+ "orientation": {
224
+ "w": 0.4670300209913329,
225
+ "xyz": [
226
+ -0.8787095588225534,
227
+ -0.07296291276108086,
228
+ -0.06654986166873482
229
+ ]
230
+ }
231
+ },
232
+ "grasp_21": {
233
+ "confidence": 0.9380318522453308,
234
+ "position": [
235
+ -0.01925568946171552,
236
+ -0.12612929462920874,
237
+ 0.11762670613825321
238
+ ],
239
+ "orientation": {
240
+ "w": 0.48178656231161215,
241
+ "xyz": [
242
+ -0.8721538460833774,
243
+ -0.0015977348186413387,
244
+ -0.08501073097780766
245
+ ]
246
+ }
247
+ },
248
+ "grasp_23": {
249
+ "confidence": 0.9255908727645874,
250
+ "position": [
251
+ 0.0010616810759529471,
252
+ -0.11553153663408011,
253
+ 0.1327394861727953
254
+ ],
255
+ "orientation": {
256
+ "w": 0.43709040239817487,
257
+ "xyz": [
258
+ -0.898408744596311,
259
+ -0.04256675755951517,
260
+ -0.0013337597802757831
261
+ ]
262
+ }
263
+ },
264
+ "grasp_27": {
265
+ "confidence": 0.9124730229377747,
266
+ "position": [
267
+ -0.0036067706532776356,
268
+ -0.10698533325921744,
269
+ 0.14519373513758183
270
+ ],
271
+ "orientation": {
272
+ "w": 0.32215901401807195,
273
+ "xyz": [
274
+ -0.9466487146910441,
275
+ -0.00834089611976191,
276
+ -0.0004583804284285557
277
+ ]
278
+ }
279
+ },
280
+ "grasp_28": {
281
+ "confidence": 0.9109873175621033,
282
+ "position": [
283
+ -0.013478735578246415,
284
+ -0.1181701374007389,
285
+ 0.125807898119092
286
+ ],
287
+ "orientation": {
288
+ "w": 0.4728877245210535,
289
+ "xyz": [
290
+ -0.8800598375564656,
291
+ 0.0255521722479648,
292
+ -0.0349137338421162
293
+ ]
294
+ }
295
+ },
296
+ "grasp_30": {
297
+ "confidence": 0.8927333950996399,
298
+ "position": [
299
+ -0.03203974582720548,
300
+ -0.11175541847478598,
301
+ 0.13715226389467716
302
+ ],
303
+ "orientation": {
304
+ "w": 0.35820773650402743,
305
+ "xyz": [
306
+ -0.9221695390632787,
307
+ -0.002201680674890849,
308
+ -0.14589623482011926
309
+ ]
310
+ }
311
+ },
312
+ "grasp_32": {
313
+ "confidence": 0.8817883729934692,
314
+ "position": [
315
+ -0.03028650500345975,
316
+ -0.11221257119905204,
317
+ 0.13616039790213108
318
+ ],
319
+ "orientation": {
320
+ "w": 0.3691296327357626,
321
+ "xyz": [
322
+ -0.9170777287143307,
323
+ -0.0028906721925396894,
324
+ -0.1506764671300753
325
+ ]
326
+ }
327
+ },
328
+ "grasp_33": {
329
+ "confidence": 0.8792319893836975,
330
+ "position": [
331
+ -0.0056072500301525,
332
+ -0.09532533853780478,
333
+ 0.1519558522850275
334
+ ],
335
+ "orientation": {
336
+ "w": 0.2768699234707587,
337
+ "xyz": [
338
+ -0.9545709027358011,
339
+ -0.09846221746115474,
340
+ -0.04942295883580937
341
+ ]
342
+ }
343
+ },
344
+ "grasp_35": {
345
+ "confidence": 0.8651922941207886,
346
+ "position": [
347
+ -0.009246778790839016,
348
+ -0.14694234251510352,
349
+ 0.07397243939340115
350
+ ],
351
+ "orientation": {
352
+ "w": 0.6787035016169156,
353
+ "xyz": [
354
+ -0.7331676139150022,
355
+ -0.02718668293754911,
356
+ -0.03298016176389649
357
+ ]
358
+ }
359
+ }
360
+ }
361
+ },
362
+ {
363
+ "part_name": "right bell",
364
+ "mask_color": "Red",
365
+ "graspable": true,
366
+ "grasp_scenarios": [
367
+ {
368
+ "scenario": "lightly pinch the bell to steady the top of the clock during manipulation",
369
+ "confidence": 0.3
370
+ },
371
+ {
372
+ "scenario": "carefully grasp the bell for slight repositioning when better grasp points are unavailable",
373
+ "confidence": 0.22
374
+ }
375
+ ],
376
+ "functional_labels": [
377
+ "produce alarm sound",
378
+ "resonate when struck",
379
+ "form part of the alarm assembly"
380
+ ],
381
+ "semantic_description": "Domed metal bell in aged beige-bronze color with a matte worn finish, smooth hard surface, and rounded shape mounted on the top right.",
382
+ "id": 0,
383
+ "grasp_group": {
384
+ "grasp_1": {
385
+ "confidence": 0.9164155125617981,
386
+ "position": [
387
+ -0.02689055458176881,
388
+ 0.1232389408396557,
389
+ 0.11755701340734959
390
+ ],
391
+ "orientation": {
392
+ "w": 0.518163086310815,
393
+ "xyz": [
394
+ 0.8473191380443034,
395
+ 0.01745979194687819,
396
+ 0.11511928575995042
397
+ ]
398
+ }
399
+ },
400
+ "grasp_2": {
401
+ "confidence": 0.9140229225158691,
402
+ "position": [
403
+ -0.017715550144203007,
404
+ 0.12339810759294778,
405
+ 0.11860840208828449
406
+ ],
407
+ "orientation": {
408
+ "w": 0.5207065018336503,
409
+ "xyz": [
410
+ 0.8492559936855625,
411
+ -0.010381365531805131,
412
+ 0.08672498709717803
413
+ ]
414
+ }
415
+ },
416
+ "grasp_4": {
417
+ "confidence": 0.9096347689628601,
418
+ "position": [
419
+ 0.0035743153421208262,
420
+ 0.12375370890367776,
421
+ 0.11938847042620182
422
+ ],
423
+ "orientation": {
424
+ "w": 0.5173373691447878,
425
+ "xyz": [
426
+ 0.8552395633346114,
427
+ -0.028629981527975135,
428
+ -0.010375931345209017
429
+ ]
430
+ }
431
+ },
432
+ "grasp_6": {
433
+ "confidence": 0.9072449207305908,
434
+ "position": [
435
+ -0.015611115959472954,
436
+ 0.11265075684059411,
437
+ 0.13935756124556065
438
+ ],
439
+ "orientation": {
440
+ "w": 0.061788349240307905,
441
+ "xyz": [
442
+ -0.0002667577186350726,
443
+ 0.9134521403911073,
444
+ -0.4022279402942842
445
+ ]
446
+ }
447
+ },
448
+ "grasp_8": {
449
+ "confidence": 0.9055923819541931,
450
+ "position": [
451
+ 0.0005689332028850913,
452
+ 0.10812005132902414,
453
+ 0.14505005814135075
454
+ ],
455
+ "orientation": {
456
+ "w": 0.35408076238149694,
457
+ "xyz": [
458
+ 0.9345825980262694,
459
+ -0.034351420317932035,
460
+ -0.0014700680074818634
461
+ ]
462
+ }
463
+ },
464
+ "grasp_9": {
465
+ "confidence": 0.9055606722831726,
466
+ "position": [
467
+ -0.030661105294711888,
468
+ 0.12796010554302484,
469
+ 0.11190740950405598
470
+ ],
471
+ "orientation": {
472
+ "w": 0.10840026210336973,
473
+ "xyz": [
474
+ -0.03070318023857962,
475
+ 0.8342559959051181,
476
+ -0.5397440422973819
477
+ ]
478
+ }
479
+ },
480
+ "grasp_10": {
481
+ "confidence": 0.9032585024833679,
482
+ "position": [
483
+ 0.009607822517864406,
484
+ 0.13650964677799493,
485
+ 0.0722626056522131
486
+ ],
487
+ "orientation": {
488
+ "w": 0.0444652549541773,
489
+ "xyz": [
490
+ -0.04387271325619803,
491
+ -0.7147450975135666,
492
+ 0.6965898877486825
493
+ ]
494
+ }
495
+ },
496
+ "grasp_18": {
497
+ "confidence": 0.8963819742202759,
498
+ "position": [
499
+ 0.0014771170681342483,
500
+ 0.1342470544623211,
501
+ 0.07194698415696621
502
+ ],
503
+ "orientation": {
504
+ "w": 0.03349924238089791,
505
+ "xyz": [
506
+ -0.008036118175455348,
507
+ -0.712817632881641,
508
+ 0.7005028506848422
509
+ ]
510
+ }
511
+ }
512
+ }
513
+ },
514
+ {
515
+ "part_name": "top handle",
516
+ "mask_color": "Cyan",
517
+ "graspable": true,
518
+ "grasp_scenarios": [
519
+ {
520
+ "scenario": "grasp the top handle to carry or lift the alarm clock",
521
+ "confidence": 0.95
522
+ },
523
+ {
524
+ "scenario": "hold the handle to reposition the clock on a surface",
525
+ "confidence": 0.91
526
+ }
527
+ ],
528
+ "functional_labels": [
529
+ "provide carrying grip",
530
+ "connect the two bells",
531
+ "aid repositioning",
532
+ "support top handling"
533
+ ],
534
+ "semantic_description": "Arched thin metal handle in brass-beige color with a smooth slightly worn finish and narrow curved form spanning between the bells.",
535
+ "id": 6,
536
+ "grasp_group": {}
537
+ },
538
+ {
539
+ "part_name": "feet",
540
+ "mask_color": "Yellow",
541
+ "graspable": false,
542
+ "grasp_scenarios": [],
543
+ "functional_labels": [
544
+ "elevate the base slightly",
545
+ "stabilize on a surface",
546
+ "support weight"
547
+ ],
548
+ "semantic_description": "Small brass-toned metal feet or foot tips visible at the lower corners under the base, with a worn smooth finish and tiny protruding support shape.",
549
+ "id": 3,
550
+ "grasp_group": {}
551
+ },
552
+ {
553
+ "part_name": "bell mounts and striker assembly",
554
+ "mask_color": "Orange",
555
+ "graspable": false,
556
+ "grasp_scenarios": [],
557
+ "functional_labels": [
558
+ "connect bells to the body",
559
+ "support the alarm striker",
560
+ "transmit alarm motion",
561
+ "secure top hardware"
562
+ ],
563
+ "semantic_description": "Small brass-colored metal posts and central top hardware between and beneath the bells, with a smooth semi-matte finish and compact mechanical appearance.",
564
+ "id": 4,
565
+ "grasp_group": {}
566
+ },
567
+ {
568
+ "part_name": "handle mount caps",
569
+ "mask_color": "Lime Green",
570
+ "graspable": false,
571
+ "grasp_scenarios": [],
572
+ "functional_labels": [
573
+ "secure the handle ends",
574
+ "terminate the handle mounting points",
575
+ "form part of the top hardware"
576
+ ],
577
+ "semantic_description": "Tiny brass-yellow caps at the left and right ends of the top handle where it attaches above the bells, very small and rounded.",
578
+ "id": 9,
579
+ "grasp_group": {}
580
+ },
581
+ {
582
+ "part_name": "side winding knob",
583
+ "mask_color": "Pink",
584
+ "graspable": true,
585
+ "grasp_scenarios": [
586
+ {
587
+ "scenario": "pinch the small side knob to turn and adjust or wind the clock",
588
+ "confidence": 0.64
589
+ },
590
+ {
591
+ "scenario": "use a precision gripper on the side knob for fine manipulation",
592
+ "confidence": 0.46
593
+ }
594
+ ],
595
+ "functional_labels": [
596
+ "adjust or wind mechanism",
597
+ "provide fine control point",
598
+ "enable clock setting or alarm adjustment"
599
+ ],
600
+ "semantic_description": "Small round side knob in matching aged metal, protruding slightly from the side of the cylindrical body and visible as a tiny circular nub in side views.",
601
+ "id": 8,
602
+ "grasp_group": {
603
+ "grasp_106": {
604
+ "confidence": 0.9094916582107544,
605
+ "position": [
606
+ 0.007208915310911834,
607
+ 0.12825748801697046,
608
+ 0.07255909405648708
609
+ ],
610
+ "orientation": {
611
+ "w": 0.6714490090265347,
612
+ "xyz": [
613
+ 0.7383698663511215,
614
+ -0.062835602695677,
615
+ 0.004225609516069883
616
+ ]
617
+ }
618
+ },
619
+ "grasp_111": {
620
+ "confidence": 0.9272187352180481,
621
+ "position": [
622
+ -0.0026987246237695217,
623
+ 0.12974444509018213,
624
+ 0.05967770330607891
625
+ ],
626
+ "orientation": {
627
+ "w": 0.7173962091760292,
628
+ "xyz": [
629
+ 0.6952178579769166,
630
+ -0.03370371809218575,
631
+ 0.02964571464163787
632
+ ]
633
+ }
634
+ }
635
+ }
636
+ },
637
+ {
638
+ "part_name": "rear cover",
639
+ "mask_color": "Brown",
640
+ "graspable": false,
641
+ "grasp_scenarios": [],
642
+ "functional_labels": [
643
+ "cover internal mechanism",
644
+ "protect rear components",
645
+ "enclose the back of the clock body"
646
+ ],
647
+ "semantic_description": "Flat circular rear panel in light beige-bronze metal with a dull worn finish, smooth hard surface, and broad disc shape closing the back of the housing, with small control holes and a central fitting visible.",
648
+ "id": 11,
649
+ "grasp_group": {}
650
+ }
651
+ ],
652
+ "quality_check": {
653
+ "success": false,
654
+ "message": "Several mask-color/part assignments are wrong; side knob and handle caps are misidentified and one knob is missing from rear view."
655
+ }
656
+ }
dataset/bedroom_supplies/small_electronics/2037921d1ea3507eac503b6ad59e0b85/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf6ac4c47ff5f039249221f29ac27ae56d43bd260743eb7927b2b397b094f350
3
+ size 3788952