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
d2d5841
·
verified ·
1 Parent(s): 0be099d

Add asset kitchen_supplies/ware/c726453b2af55902ac695052c2614b70

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/affordance_annot.json +734 -0
  3. dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7640,3 +7640,4 @@ dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/affordance/mesh_p
7640
  dataset/kitchen_supplies/ware/c3bafd1efb145b49bd38eb21907fd4a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7641
  dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7642
  dataset/kitchen_supplies/ware/c50e899de465597ebba8a270fdba138d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7640
  dataset/kitchen_supplies/ware/c3bafd1efb145b49bd38eb21907fd4a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7641
  dataset/kitchen_supplies/ware/c483cda1060156f8ba69d6f943467dc6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7642
  dataset/kitchen_supplies/ware/c50e899de465597ebba8a270fdba138d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7643
+ dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/affordance_annot.json ADDED
@@ -0,0 +1,734 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "thermos body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and carry the thermos",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the thermos while opening or closing the lid",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp the body to reposition the thermos upright on a surface",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid",
23
+ "main grasp surface",
24
+ "support lifting and carrying",
25
+ "provide structural enclosure",
26
+ "stabilize during lid twisting"
27
+ ],
28
+ "semantic_description": "Large tapered stainless-steel body with a reflective metallic silver finish, smooth hard surface, and a white printed logo on one side, forming the main central vessel of the thermos.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_6": {
32
+ "confidence": 0.991323709487915,
33
+ "position": [
34
+ -0.09997546629165299,
35
+ -0.01682253510807641,
36
+ -0.06565774057526141
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5206996139631368,
40
+ "xyz": [
41
+ 0.40026077100887086,
42
+ 0.47062120130650664,
43
+ 0.5892188999776271
44
+ ]
45
+ }
46
+ },
47
+ "grasp_7": {
48
+ "confidence": 0.9907917976379395,
49
+ "position": [
50
+ -0.08752010719035752,
51
+ -0.048885305906878784,
52
+ -0.055282173794694245
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6529142652149759,
56
+ "xyz": [
57
+ -0.5613001159287114,
58
+ 0.3327685184840029,
59
+ -0.38459102335229484
60
+ ]
61
+ }
62
+ },
63
+ "grasp_10": {
64
+ "confidence": 0.9885534048080444,
65
+ "position": [
66
+ -0.10291431800578721,
67
+ -0.012361414293991402,
68
+ -0.045897411298938096
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5254622291222284,
72
+ "xyz": [
73
+ -0.5292334694624313,
74
+ 0.4593526342887879,
75
+ -0.48248993558271014
76
+ ]
77
+ }
78
+ },
79
+ "grasp_11": {
80
+ "confidence": 0.9885262250900269,
81
+ "position": [
82
+ -0.09397909001563676,
83
+ -0.03616491102729924,
84
+ -0.051333198440261185
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6078941436904495,
88
+ "xyz": [
89
+ -0.5643070937893782,
90
+ 0.3839305619414367,
91
+ -0.4057333330811924
92
+ ]
93
+ }
94
+ },
95
+ "grasp_12": {
96
+ "confidence": 0.9883279204368591,
97
+ "position": [
98
+ -0.09828200147603638,
99
+ 0.02428525543655269,
100
+ -0.06063678313512355
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4621525035181459,
104
+ "xyz": [
105
+ -0.39465696251309224,
106
+ 0.5091378376879077,
107
+ -0.6094584544219008
108
+ ]
109
+ }
110
+ },
111
+ "grasp_13": {
112
+ "confidence": 0.9882603883743286,
113
+ "position": [
114
+ -0.09186453328584321,
115
+ -0.04559457444702275,
116
+ -0.03922902245540172
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5881955465374837,
120
+ "xyz": [
121
+ -0.6140566438742332,
122
+ 0.378675928260348,
123
+ -0.3654654272342978
124
+ ]
125
+ }
126
+ },
127
+ "grasp_14": {
128
+ "confidence": 0.9882320761680603,
129
+ "position": [
130
+ -0.10510421500657685,
131
+ 0.009412126120878384,
132
+ -0.04445028502959758
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4677670994841592,
136
+ "xyz": [
137
+ -0.4720702935676196,
138
+ 0.5181455839139789,
139
+ -0.5383945880500658
140
+ ]
141
+ }
142
+ },
143
+ "grasp_15": {
144
+ "confidence": 0.9880296587944031,
145
+ "position": [
146
+ -0.09492713169311173,
147
+ -0.04238787436042912,
148
+ -0.03989831928629428
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5910398409815769,
152
+ "xyz": [
153
+ -0.5940654235612186,
154
+ 0.3923622600057247,
155
+ -0.37922293683887603
156
+ ]
157
+ }
158
+ },
159
+ "grasp_16": {
160
+ "confidence": 0.9879916310310364,
161
+ "position": [
162
+ -0.08582679883693345,
163
+ -0.05716725208912976,
164
+ -0.03884309728164226
165
+ ],
166
+ "orientation": {
167
+ "w": 0.6090147060609408,
168
+ "xyz": [
169
+ -0.638069026189584,
170
+ 0.33058517318705083,
171
+ -0.33568206518649296
172
+ ]
173
+ }
174
+ },
175
+ "grasp_17": {
176
+ "confidence": 0.9879504442214966,
177
+ "position": [
178
+ -0.10273109332774766,
179
+ -0.008100737381028011,
180
+ -0.04125863884110004
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5115046626330537,
184
+ "xyz": [
185
+ -0.5211949105328506,
186
+ 0.4801577699683899,
187
+ -0.48597053540135854
188
+ ]
189
+ }
190
+ },
191
+ "grasp_19": {
192
+ "confidence": 0.987113356590271,
193
+ "position": [
194
+ -0.09086722091888078,
195
+ -0.04835058146272786,
196
+ -0.036898872000165284
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5917389640230707,
200
+ "xyz": [
201
+ -0.6139579434856509,
202
+ 0.37356506815715007,
203
+ -0.36517089415849857
204
+ ]
205
+ }
206
+ },
207
+ "grasp_20": {
208
+ "confidence": 0.9871076941490173,
209
+ "position": [
210
+ -0.08021336005185731,
211
+ -0.035941699083196,
212
+ -0.08649021957535297
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7241756874502815,
216
+ "xyz": [
217
+ -0.4205314209830927,
218
+ 0.28271358548686376,
219
+ -0.46775626799970804
220
+ ]
221
+ }
222
+ },
223
+ "grasp_22": {
224
+ "confidence": 0.9868795275688171,
225
+ "position": [
226
+ -0.1012569363520015,
227
+ -0.0013060383789706975,
228
+ -0.04412369255442172
229
+ ],
230
+ "orientation": {
231
+ "w": 0.49748791776380974,
232
+ "xyz": [
233
+ -0.5020235917860865,
234
+ 0.49023444499181856,
235
+ -0.5100473251697233
236
+ ]
237
+ }
238
+ },
239
+ "grasp_23": {
240
+ "confidence": 0.9860873818397522,
241
+ "position": [
242
+ -0.10378373370622285,
243
+ -0.005650089151458815,
244
+ -0.04270991508383304
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49411993582721486,
248
+ "xyz": [
249
+ 0.49163516745566943,
250
+ 0.5075161026386211,
251
+ 0.5065251787438108
252
+ ]
253
+ }
254
+ }
255
+ }
256
+ },
257
+ {
258
+ "part_name": "lid",
259
+ "mask_color": "Yellow",
260
+ "graspable": true,
261
+ "grasp_scenarios": [
262
+ {
263
+ "scenario": "grasp the lid to twist it open or closed",
264
+ "confidence": 0.88
265
+ },
266
+ {
267
+ "scenario": "hold the top while stabilizing the thermos during manipulation",
268
+ "confidence": 0.72
269
+ }
270
+ ],
271
+ "functional_labels": [
272
+ "cover the opening",
273
+ "seal the container",
274
+ "enable opening and closing",
275
+ "protect the drinking area"
276
+ ],
277
+ "semantic_description": "Round dusty-pink plastic lid with a mostly matte smooth surface and slightly raised top profile, sitting at the top of the thermos and covering the opening.",
278
+ "id": 3,
279
+ "grasp_group": {
280
+ "grasp_26": {
281
+ "confidence": 0.9851425290107727,
282
+ "position": [
283
+ -0.05233095170115121,
284
+ -0.007398256129818037,
285
+ 0.12760092492680997
286
+ ],
287
+ "orientation": {
288
+ "w": 0.19152410772428838,
289
+ "xyz": [
290
+ -0.7310438704988906,
291
+ 0.634118766202981,
292
+ -0.163666630427908
293
+ ]
294
+ }
295
+ },
296
+ "grasp_27": {
297
+ "confidence": 0.9841545820236206,
298
+ "position": [
299
+ -0.08604548827861436,
300
+ -0.02568921589409001,
301
+ 0.09034018393140286
302
+ ],
303
+ "orientation": {
304
+ "w": 0.3974893327350617,
305
+ "xyz": [
306
+ -0.705919788675829,
307
+ 0.5045112534721307,
308
+ -0.2985764180870404
309
+ ]
310
+ }
311
+ },
312
+ "grasp_28": {
313
+ "confidence": 0.9831296801567078,
314
+ "position": [
315
+ -0.05373807207797654,
316
+ -0.004405069659696892,
317
+ 0.12781632121186703
318
+ ],
319
+ "orientation": {
320
+ "w": 0.19183791088836727,
321
+ "xyz": [
322
+ -0.730036383373472,
323
+ 0.633327308256646,
324
+ -0.17070915474384904
325
+ ]
326
+ }
327
+ },
328
+ "grasp_29": {
329
+ "confidence": 0.9825175404548645,
330
+ "position": [
331
+ -0.0527834105596412,
332
+ 0.017908789654029533,
333
+ 0.12760633404832333
334
+ ],
335
+ "orientation": {
336
+ "w": 0.20455993898572755,
337
+ "xyz": [
338
+ 0.7859276783181471,
339
+ 0.5628089367975744,
340
+ 0.15400979344310062
341
+ ]
342
+ }
343
+ },
344
+ "grasp_30": {
345
+ "confidence": 0.9818738698959351,
346
+ "position": [
347
+ -0.05395304740522988,
348
+ -0.001922381139593199,
349
+ 0.12756067689042538
350
+ ],
351
+ "orientation": {
352
+ "w": 0.18617520427245807,
353
+ "xyz": [
354
+ -0.7281528034542675,
355
+ 0.6355220101033693,
356
+ -0.17675990158961985
357
+ ]
358
+ }
359
+ },
360
+ "grasp_31": {
361
+ "confidence": 0.9816821813583374,
362
+ "position": [
363
+ -0.08789045320008881,
364
+ -0.03459266715799458,
365
+ 0.08713366265874356
366
+ ],
367
+ "orientation": {
368
+ "w": 0.4244435755498972,
369
+ "xyz": [
370
+ -0.7181671594787973,
371
+ 0.4775853566481395,
372
+ -0.2756733743687343
373
+ ]
374
+ }
375
+ },
376
+ "grasp_32": {
377
+ "confidence": 0.9806820154190063,
378
+ "position": [
379
+ -0.0894633452699054,
380
+ -0.014268480736063793,
381
+ 0.08762774046044797
382
+ ],
383
+ "orientation": {
384
+ "w": 0.3261563450590437,
385
+ "xyz": [
386
+ 0.5656233960941264,
387
+ 0.6530641180651072,
388
+ 0.3836658312444787
389
+ ]
390
+ }
391
+ },
392
+ "grasp_33": {
393
+ "confidence": 0.9795280694961548,
394
+ "position": [
395
+ -0.06704040573094971,
396
+ 0.007559556484920904,
397
+ 0.1220217066584155
398
+ ],
399
+ "orientation": {
400
+ "w": 0.23572516598002133,
401
+ "xyz": [
402
+ 0.7225053964232742,
403
+ 0.615261857159773,
404
+ 0.20945750258046633
405
+ ]
406
+ }
407
+ },
408
+ "grasp_34": {
409
+ "confidence": 0.979343831539154,
410
+ "position": [
411
+ -0.04839875877951272,
412
+ -0.00985308040981181,
413
+ 0.1275383251486346
414
+ ],
415
+ "orientation": {
416
+ "w": 0.1973691673562135,
417
+ "xyz": [
418
+ -0.7666176396844347,
419
+ 0.5918446678890243,
420
+ -0.1518640688020447
421
+ ]
422
+ }
423
+ },
424
+ "grasp_35": {
425
+ "confidence": 0.9790964722633362,
426
+ "position": [
427
+ -0.08478417948936112,
428
+ -0.017799572582589462,
429
+ 0.09024554665666074
430
+ ],
431
+ "orientation": {
432
+ "w": 0.3902977274702492,
433
+ "xyz": [
434
+ -0.6823429111774097,
435
+ 0.5354382283867334,
436
+ -0.3088393418584697
437
+ ]
438
+ }
439
+ },
440
+ "grasp_36": {
441
+ "confidence": 0.9787982106208801,
442
+ "position": [
443
+ -0.04963277236674912,
444
+ -0.011515588994370773,
445
+ 0.1280474531231448
446
+ ],
447
+ "orientation": {
448
+ "w": 0.20543617516687424,
449
+ "xyz": [
450
+ -0.772887347129418,
451
+ 0.58276889759811,
452
+ -0.14429670326220076
453
+ ]
454
+ }
455
+ },
456
+ "grasp_37": {
457
+ "confidence": 0.9783505797386169,
458
+ "position": [
459
+ -0.09321890727733262,
460
+ -0.00865257767145522,
461
+ 0.0895609128056094
462
+ ],
463
+ "orientation": {
464
+ "w": 0.36979619215324766,
465
+ "xyz": [
466
+ -0.6590230616588189,
467
+ 0.565662799132034,
468
+ -0.33009843705917036
469
+ ]
470
+ }
471
+ },
472
+ "grasp_38": {
473
+ "confidence": 0.9773987531661987,
474
+ "position": [
475
+ -0.09934642867301591,
476
+ -0.03162985810195096,
477
+ 0.038782784598879516
478
+ ],
479
+ "orientation": {
480
+ "w": 0.56531427878258,
481
+ "xyz": [
482
+ -0.5688089169342726,
483
+ 0.4233700612225907,
484
+ -0.42146645593803955
485
+ ]
486
+ }
487
+ },
488
+ "grasp_39": {
489
+ "confidence": 0.9772855639457703,
490
+ "position": [
491
+ -0.07942170606111176,
492
+ -0.007690166617976502,
493
+ 0.10958988394122571
494
+ ],
495
+ "orientation": {
496
+ "w": 0.28292646732384186,
497
+ "xyz": [
498
+ 0.5948198380410631,
499
+ 0.6905281151061119,
500
+ 0.29885263359799036
501
+ ]
502
+ }
503
+ },
504
+ "grasp_40": {
505
+ "confidence": 0.9769719243049622,
506
+ "position": [
507
+ -0.08397688672994263,
508
+ -0.02617069848929532,
509
+ 0.0977950858650729
510
+ ],
511
+ "orientation": {
512
+ "w": 0.38439791212977864,
513
+ "xyz": [
514
+ -0.7133466454261473,
515
+ 0.5063437164664015,
516
+ -0.2949421119550777
517
+ ]
518
+ }
519
+ },
520
+ "grasp_41": {
521
+ "confidence": 0.9767293930053711,
522
+ "position": [
523
+ -0.10401268259738572,
524
+ -0.00952611633692868,
525
+ 0.0391684042988345
526
+ ],
527
+ "orientation": {
528
+ "w": 0.5284200316489416,
529
+ "xyz": [
530
+ -0.5176986188868233,
531
+ 0.47457536954650803,
532
+ -0.4770100929483595
533
+ ]
534
+ }
535
+ },
536
+ "grasp_42": {
537
+ "confidence": 0.976514458656311,
538
+ "position": [
539
+ 0.08491648777271621,
540
+ 0.021076055680168793,
541
+ 0.09486097272019833
542
+ ],
543
+ "orientation": {
544
+ "w": 0.3104317751029061,
545
+ "xyz": [
546
+ -0.5395058174871988,
547
+ -0.6854234020695417,
548
+ 0.37783640083949493
549
+ ]
550
+ }
551
+ },
552
+ "grasp_43": {
553
+ "confidence": 0.9750898480415344,
554
+ "position": [
555
+ -0.10337024138425477,
556
+ -0.010820636089192703,
557
+ 0.03503679286222905
558
+ ],
559
+ "orientation": {
560
+ "w": 0.5239809608806151,
561
+ "xyz": [
562
+ -0.523045354037762,
563
+ 0.47238256393974254,
564
+ -0.47824912288456367
565
+ ]
566
+ }
567
+ },
568
+ "grasp_44": {
569
+ "confidence": 0.9750522971153259,
570
+ "position": [
571
+ -0.07811035172198899,
572
+ -0.017023061896907166,
573
+ 0.1072666960535571
574
+ ],
575
+ "orientation": {
576
+ "w": 0.27360302224420513,
577
+ "xyz": [
578
+ 0.5470804007701198,
579
+ 0.7198974487447338,
580
+ 0.3280123238582133
581
+ ]
582
+ }
583
+ },
584
+ "grasp_45": {
585
+ "confidence": 0.9748236536979675,
586
+ "position": [
587
+ 0.04892972527886741,
588
+ 0.019215042208088562,
589
+ 0.1271060126600787
590
+ ],
591
+ "orientation": {
592
+ "w": 0.1665682006576916,
593
+ "xyz": [
594
+ -0.5416272788095104,
595
+ -0.7964368873331302,
596
+ 0.21114736530247905
597
+ ]
598
+ }
599
+ }
600
+ }
601
+ },
602
+ {
603
+ "part_name": "carrying strap",
604
+ "mask_color": "Green",
605
+ "graspable": true,
606
+ "grasp_scenarios": [
607
+ {
608
+ "scenario": "hook or pinch the strap to lift the thermos for short carrying motions",
609
+ "confidence": 0.7
610
+ },
611
+ {
612
+ "scenario": "grasp the strap to pull or reposition the thermos",
613
+ "confidence": 0.63
614
+ }
615
+ ],
616
+ "functional_labels": [
617
+ "enable carrying",
618
+ "provide a hanging loop",
619
+ "assist quick retrieval",
620
+ "offer an alternate pull point"
621
+ ],
622
+ "semantic_description": "Narrow dusty-pink flexible strap with a smooth soft surface, looped from the lid side and hanging down as a small side handle.",
623
+ "id": 1,
624
+ "grasp_group": {
625
+ "grasp_2": {
626
+ "confidence": 0.552142322063446,
627
+ "position": [
628
+ -0.02055953213130124,
629
+ 0.04200235239113681,
630
+ 0.11481148179154843
631
+ ],
632
+ "orientation": {
633
+ "w": 0.2737630828421877,
634
+ "xyz": [
635
+ 0.9439073984243076,
636
+ 0.17532225540681345,
637
+ 0.05791981035591541
638
+ ]
639
+ }
640
+ }
641
+ }
642
+ },
643
+ {
644
+ "part_name": "strap connector",
645
+ "mask_color": "Red",
646
+ "graspable": false,
647
+ "grasp_scenarios": [],
648
+ "functional_labels": [
649
+ "attach the strap to the lid",
650
+ "secure the carrying loop",
651
+ "connect flexible and rigid parts"
652
+ ],
653
+ "semantic_description": "Small dusty-pink connector piece near the lid edge with a hard smooth finish, linking the flexible carrying strap to the top assembly.",
654
+ "id": 0,
655
+ "grasp_group": {}
656
+ },
657
+ {
658
+ "part_name": "base ring",
659
+ "mask_color": "Orange",
660
+ "graspable": false,
661
+ "grasp_scenarios": [],
662
+ "functional_labels": [
663
+ "protect the bottom edge",
664
+ "provide impact buffering",
665
+ "improve base durability",
666
+ "add bottom trim"
667
+ ],
668
+ "semantic_description": "Thin metallic silver ring around the lower perimeter near the bottom, with a smooth reflective finish, forming a narrow trim band above the bottom pad.",
669
+ "id": 4,
670
+ "grasp_group": {}
671
+ },
672
+ {
673
+ "part_name": "bottom pad",
674
+ "mask_color": "Cyan",
675
+ "graspable": false,
676
+ "grasp_scenarios": [],
677
+ "functional_labels": [
678
+ "support standing",
679
+ "protect the base",
680
+ "add friction on surfaces",
681
+ "cushion contact with tables"
682
+ ],
683
+ "semantic_description": "Circular translucent smoky-gray bottom pad covering the underside base, with a smooth finish and slightly darker central area visible within it, serving as the contact surface when the thermos stands upright.",
684
+ "id": 6,
685
+ "grasp_group": {}
686
+ },
687
+ {
688
+ "part_name": "top center label",
689
+ "mask_color": "Purple",
690
+ "graspable": false,
691
+ "grasp_scenarios": [],
692
+ "functional_labels": [
693
+ "brand or product marking",
694
+ "provide top-surface identification",
695
+ "decorate the lid center"
696
+ ],
697
+ "semantic_description": "Small circular insert at the lid center containing a printed white label with blue text and small colored graphics, set into the top surface.",
698
+ "id": 5,
699
+ "grasp_group": {}
700
+ },
701
+ {
702
+ "part_name": "bottom center insert",
703
+ "mask_color": "Magenta",
704
+ "graspable": false,
705
+ "grasp_scenarios": [],
706
+ "functional_labels": [
707
+ "cover the base center",
708
+ "provide bottom detail",
709
+ "finish the underside assembly"
710
+ ],
711
+ "semantic_description": "Small circular dark reddish-pink center insert on the underside, smooth and recessed within the bottom pad as a minor base detail.",
712
+ "id": 7,
713
+ "grasp_group": {}
714
+ },
715
+ {
716
+ "part_name": "logo marking",
717
+ "mask_color": "Lime Green",
718
+ "graspable": false,
719
+ "grasp_scenarios": [],
720
+ "functional_labels": [
721
+ "brand identification",
722
+ "visual marking",
723
+ "indicate product orientation"
724
+ ],
725
+ "semantic_description": "Small vertical white printed logo on the side of the metallic body, flat and non-textural, serving as branding rather than a structural part.",
726
+ "id": 9,
727
+ "grasp_group": {}
728
+ }
729
+ ],
730
+ "quality_check": {
731
+ "success": false,
732
+ "message": "Several semantic descriptions mismatch visible colors/materials; base ring and bottom pad identities/functions are inaccurate."
733
+ }
734
+ }
dataset/kitchen_supplies/ware/c726453b2af55902ac695052c2614b70/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3aa634cf1a6ba5f2f43d857dab3c837417a360957c546db8e8272acdcd47e135
3
+ size 3787632