统一标注层 v0.1 · Articraft 铰链资产试点
每个资产为 URDF 铰链物体，按 URDF link 切分部件（part_id_kind = urdf_link，原生部件）。彩色点为各部件，箭头为派生的 access_direction。
access_direction 直接来自原生关节轴：移动副(prismatic)→沿开合轴；转动副(revolute/continuous)→绕轴在部件质心处的切向；支撑面→ +Z。部件 affordance 由关节类型 + link/visual 名关键词规则给出（会过聚合，属已知粗粒度限制）。每条标签/方向都带 method + confidence + provenance，为启发式派生非 ground truth。
9996annotated assets
44583URDF-link parts
37525access directions
37132joint-axis directions
0round-trip audit problems
数据来源：Articraft-10K tar.gz（URDF+meshes，CPU 静止态采样）。 下方为 40 个跨类目抽样卡片（共 9996 资产，规范见
docs/UNIFIED_ANNOTATION_LAYER_SCHEMA_v0_1.md）。质量评估 · mask & access_direction
access_direction 强：84.2% 的部件有方向，37132 个来自原生关节轴（置信 0.8，物理有据）。注意 revolute 中 5526 个切向退化回轴向（约 22%），方向仍合理但非接触切向。
access_direction
有方向部件: 37525 / 44583 (84.2%)
置信度: min 0.5 · 中位 0.8 · max 0.8
方法: {'joint_axis': 37132, 'geometry': 393}
low-localization: 0 (0.0%)
· revolute_tangent_at_centroid: 19001
· prismatic_open_axis: 12605
· revolute_axis_fallback: 5526
· urdf_up_z(support): 393
affordance 标签来源
· articraft_joint_structure: 120632
· articraft_name_rule: 21290
关节结构 vs 名字规则——名字规则会过聚合（已知粗粒度限制）。
benchtop_monocular_laboratory_microscope
Articraft:rec_a-benchtop-monocular-laboratory-microscope-a-hea_20260331_230942_552800_6c80d18c
功能描述 · LLM 常识生成
“A laboratory microscope with a single eyepiece, used on a bench to magnify and inspect small specimens”
“A laboratory microscope with a single eyepiece, used on a bench to magnify and inspect small specimens”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
placed_on → desk.n.01 0.78placed_on → countertop.n.01 0.44used_with → chair.n.01 0.32
placed_on → desk.n.01 0.78placed_on → countertop.n.01 0.44used_with → chair.n.01 0.32
casino_machine
Articraft:rec_a-casino-slot-machine-with-a-tall-cabinet-a-fron_20260401_024859_195918_39764297
功能描述 · LLM 常识生成
“A gambling machine that accepts wagers and randomly determines payouts through mechanical or electronic game outcomes”
“A gambling machine that accepts wagers and randomly determines payouts through mechanical or electronic game outcomes”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| support | 0.55 (rule) | 0.50 (urdf_up_z(support)) |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → chair.n.01 0.58used_with → stool.n.01 0.49used_with → cash_register 0.27placed_on → floor_lamp.n.01 0.02
used_with → chair.n.01 0.58used_with → stool.n.01 0.49used_with → cash_register 0.27placed_on → floor_lamp.n.01 0.02
flip_top_bottle
Articraft:rec_a-classic-occ-bottle-with-articulated-cap_20260321_164200_149541_6af2da87
功能描述 · LLM 常识生成
“A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing”
“A bottle with a hinged cap that flips open and shut for convenient dispensing and resealing”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
placed_on → countertop.n.01 0.70used_with → cup.n.01 0.47used_with → refrigerator.n.01 0.44
placed_on → countertop.n.01 0.70used_with → cup.n.01 0.47used_with → refrigerator.n.01 0.44
multisegment_foldout_arm
Articraft:rec_a-compact-fold-out-support-arm-with-four-short-s_20260328_165100_801243_392e4251
功能描述 · LLM 常识生成
“A jointed arm with multiple folding segments used to extend, position, or support attached equipment”
“A jointed arm with multiple folding segments used to extend, position, or support attached equipment”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| support | 0.55 (rule) | 0.50 (urdf_up_z(support)) |
functional dependency
used_with → microphone.n.01 0.64used_with → camera.n.01 0.63used_with → wall_lamp.n.01 0.44placed_on → desk.n.01 0.36
used_with → microphone.n.01 0.64used_with → camera.n.01 0.63used_with → wall_lamp.n.01 0.44placed_on → desk.n.01 0.36
desktop_monitor_with_tilt_swivel_stand
Articraft:rec_a-compact-office-monitor-with-a-slim-bezel-a-tel_20260407_110625_768142_efe2ae03
功能描述 · LLM 常识生成
“A computer display on an adjustable stand, used to present visual output with tilt and swivel positioning”
“A computer display on an adjustable stand, used to present visual output with tilt and swivel positioning”
| part affordance | label conf | access-direction conf |
|---|---|---|
| turn | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
placed_on → desk_with_drawer 0.93used_with → keyboard 0.92requires → desktop_pc_tower 0.88used_with → office_chair 0.74
placed_on → desk_with_drawer 0.93used_with → keyboard 0.92requires → desktop_pc_tower 0.88used_with → office_chair 0.74
camera_flash
Articraft:rec_a-compact-on-camera-flash-with-a-narrow-body-a-r_20260426_045857_759417_bff0fdec
功能描述 · LLM 常识生成
“A lighting device that emits a brief burst of illumination to aid photography in low light”
“A lighting device that emits a brief burst of illumination to aid photography in low light”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
requires → camera.n.01 0.90used_with → camera_lens 0.35used_with → camcorder.n.01 0.14
requires → camera.n.01 0.90used_with → camera_lens 0.35used_with → camcorder.n.01 0.14
floor_standing_drafting_table
Articraft:rec_a-floor-standing-drafting-table_20260401_005303_946702_7a5e6635
功能描述 · LLM 常识生成
“A raised freestanding worktable with an adjustable angled surface for technical drawing, drafting, or design work”
“A raised freestanding worktable with an adjustable angled surface for technical drawing, drafting, or design work”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → stool.n.01 0.63used_with → chair.n.01 0.45placed_on → rug.n.01 0.22
used_with → stool.n.01 0.63used_with → chair.n.01 0.45placed_on → rug.n.01 0.22
candy_vending_machine
Articraft:rec_a-freestanding-candy-vending-machine-with-a-pede_20260401_024152_525731_d8046df5
功能描述 · LLM 常识生成
“A coin-operated dispenser that stores and releases candy for purchase”
“A coin-operated dispenser that stores and releases candy for purchase”
| part affordance | label conf | access-direction conf |
|---|---|---|
| turn | 0.55 (rule) | — |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → cash_register 0.34placed_on → floor.n.01 0.18placed_on → countertop.n.01 0.12
used_with → cash_register 0.34placed_on → floor.n.01 0.18placed_on → countertop.n.01 0.12
frontload_washing_machine
Articraft:rec_a-front-loading-washing-machine-with-a-white-rec_20260513_002941_547341_050bf63f
功能描述 · LLM 常识生成
“A laundry appliance with a front-opening drum used to wash clothes by rotating them through water and detergent”
“A laundry appliance with a front-opening drum used to wash clothes by rotating them through water and detergent”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
requires → socket.n.03 0.95used_with → frontload_dryer 0.92requires → faucet.n.01 0.91used_with → hamper.n.02 0.66
requires → socket.n.03 0.95used_with → frontload_dryer 0.92requires → faucet.n.01 0.91used_with → hamper.n.02 0.66
midi_keyboard_controller_with_pitch_wheel_and_sliders
Articraft:rec_a-midi-keyboard_20260322_164952_491478_ce96f1d3
功能描述 · LLM 常识生成
“An electronic keyboard input device with performance controls used to send MIDI data to music software or instruments”
“An electronic keyboard input device with performance controls used to send MIDI data to music software or instruments”
| part affordance | label conf | access-direction conf |
|---|---|---|
| sit | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.55 (rule) | — |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.55 (rule) | — |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
requires → laptop.n.01 0.74requires → desktop_pc_tower 0.68used_with → loudspeaker.n.01 0.55used_with → audio_system.n.01 0.53
requires → laptop.n.01 0.74requires → desktop_pc_tower 0.68used_with → loudspeaker.n.01 0.55used_with → audio_system.n.01 0.53
single_roll_axis_module
Articraft:rec_a-precision-roll-axis-rotary-module-with-a-singl_20260325_150117_610361_d39ce0ad
功能描述 · LLM 常识生成
“A motion module that rotates a connected part about its longitudinal axis to control rolling orientation”
“A motion module that rotates a connected part about its longitudinal axis to control rolling orientation”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → camera.n.01 0.65used_with → drone 0.63used_with → robotic_arms 0.57
used_with → camera.n.01 0.65used_with → drone 0.63used_with → robotic_arms 0.57
globe
Articraft:rec_a-realistic-detailed-model-of-an-articulated-glo_20260320_235017_379193_b1490588
功能描述 · LLM 常识生成
“A spherical model of Earth used for geographic reference, education, or decoration”
“A spherical model of Earth used for geographic reference, education, or decoration”
| part affordance | label conf | access-direction conf |
|---|---|---|
| sit | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
placed_on → desk.n.01 0.77placed_on → bookcase.n.01 0.63used_with → book.n.02 0.47
placed_on → desk.n.01 0.77placed_on → bookcase.n.01 0.63used_with → book.n.02 0.47
graphics_card_with_cooling_fans
Articraft:rec_a-realistic-highly-detailed-graphics-card-with-a_20260325_014713_950810_ffcd03c8
功能描述 · LLM 常识生成
“A computer expansion board with heat-dissipating fans used to process and render graphical data”
“A computer expansion board with heat-dissipating fans used to process and render graphical data”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| support | 0.55 (rule) | — |
| support | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
requires → motherboard 0.97requires → desktop_pc_tower 0.83used_with → desktop_monitor_with_tilt_swivel_stand 0.76requires → socket.n.03 0.29
requires → motherboard 0.97requires → desktop_pc_tower 0.83used_with → desktop_monitor_with_tilt_swivel_stand 0.76requires → socket.n.03 0.29
remote_weapon_station
Articraft:rec_a-realistic-highly-detailed-remote-weapon-statio_20260319_120024_321719_84124fc2
功能描述 · LLM 常识生成
“A remotely operated mounted weapons platform used to aim and fire without direct onboard human operation”
“A remotely operated mounted weapons platform used to aim and fire without direct onboard human operation”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
controls → cannon 0.90used_with → cctv_mast_with_pantilt_camera_head 0.61requires → monitor.n.04 0.56
controls → cannon 0.90used_with → cctv_mast_with_pantilt_camera_head 0.61requires → monitor.n.04 0.56
crane_tower
Articraft:rec_a-realistic-highly-detailed-tower-crane-with-a-t_20260318_192043_5916181a
功能描述 · LLM 常识生成
“A tall structural support for a crane, used to elevate and stabilize lifting machinery in industrial or construction environments”
“A tall structural support for a crane, used to elevate and stabilize lifting machinery in industrial or construction environments”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
used_with → platform_cart 0.35used_with → barrier_gate 0.22used_with → dock_loading_ramp 0.18
used_with → platform_cart 0.35used_with → barrier_gate 0.22used_with → dock_loading_ramp 0.18
robotic_arms
Articraft:rec_a-realistic-model-of-a-robotic-arm-that-is-fully_20260319_025530_865163_179489fc
功能描述 · LLM 常识生成
“Mechanical articulated arms used to position tools or manipulate objects in industrial, research, or automated tasks”
“Mechanical articulated arms used to position tools or manipulate objects in industrial, research, or automated tasks”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
used_with → workbench.n.01 0.73used_with → xyz_cartesian_stage 0.61requires → revoluteprismaticrevolute_chain 0.56
used_with → workbench.n.01 0.73used_with → xyz_cartesian_stage 0.61requires → revoluteprismaticrevolute_chain 0.56
satellite_with_articulated_solar_panels
Articraft:rec_a-realistic-model-of-a-satellite_20260402_161121_286240_c5af0a24
功能描述 · LLM 常识生成
“An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments”
“An orbiting spacecraft with movable solar arrays, used to collect power for communication, observation, or scientific instruments”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
requires → parabolic_dish_on_azimuth_elevation_mount 0.45used_with → camera.n.01 0.29used_with → searchlight_tower 0.12
requires → parabolic_dish_on_azimuth_elevation_mount 0.45used_with → camera.n.01 0.29used_with → searchlight_tower 0.12
internet_router
Articraft:rec_a-realistic-model-of-an-internet-router-with-4-a_20260319_144436_012112_dbdd0d7d
功能描述 · LLM 常识生成
“A networking device used to route data between local devices and external networks, often providing wireless access”
“A networking device used to route data between local devices and external networks, often providing wireless access”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → laptop.n.01 0.89requires → wall_socket.n.01 0.82used_with → desktop_pc_tower 0.80used_with → tablet_computer.n.01 0.74
used_with → laptop.n.01 0.89requires → wall_socket.n.01 0.82used_with → desktop_pc_tower 0.80used_with → tablet_computer.n.01 0.74
wall_safe_with_hinged_door_and_dial
Articraft:rec_a-recessed-wall-safe-with-a-box-shaped-body-thic_20260331_221832_730637_bffc9950
功能描述 · LLM 常识生成
“A secure lockbox mounted within a wall, used to store valuables behind a hinged door with combination dial”
“A secure lockbox mounted within a wall, used to store valuables behind a hinged door with combination dial”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| grasp | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
placed_on → wall_panel.n.01 0.98used_with → jewelry_box.n.01 0.55used_with → book.n.02 0.51
placed_on → wall_panel.n.01 0.98used_with → jewelry_box.n.01 0.55used_with → book.n.02 0.51
arcade_machine
Articraft:rec_a-sit-down-driving-arcade-cabinet-with-a-large-f_20260401_024911_538896_7d0c5bae
功能描述 · LLM 常识生成
“A coin-operated entertainment cabinet containing a video game display and controls for public or private play”
“A coin-operated entertainment cabinet containing a video game display and controls for public or private play”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
requires → wall_socket.n.01 0.97used_with → stool.n.01 0.34used_with → chair.n.01 0.27
requires → wall_socket.n.01 0.97used_with → stool.n.01 0.34used_with → chair.n.01 0.27
toy_car
Articraft:rec_a-toy-car-with-a-fixed-chassis-and-rigid-body-sh_20260401_030817_024256_486ab041
功能描述 · LLM 常识生成
“A small model vehicle designed for children's play or display”
“A small model vehicle designed for children's play or display”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.55 (rule) | — |
| turn | 0.55 (rule) | — |
| turn | 0.55 (rule) | — |
| turn | 0.55 (rule) | — |
functional dependency
used_with → toy_box.n.01 0.77used_with → play_area.n.01 0.63placed_on → rug.n.01 0.61placed_on → floor_mat.n.01 0.21
used_with → toy_box.n.01 0.77used_with → play_area.n.01 0.63placed_on → rug.n.01 0.61placed_on → floor_mat.n.01 0.21
adjustable_weight_bench_with_hinged_backrest
Articraft:rec_adjustable_weight_bench_with_hinged_backrest_008247976e6d499d8bcbd1304f26c972
功能描述 · LLM 常识生成
“A padded exercise bench with an adjustable hinged backrest, used to support the body during strength training and weightlifting exercises”
“A padded exercise bench with an adjustable hinged backrest, used to support the body during strength training and weightlifting exercises”
| part affordance | label conf | access-direction conf |
|---|---|---|
| grasp | 0.55 (rule) | — |
| sit | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| sit | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
used_with → weight.n.02 0.95used_with → gym_equipment.n.01 0.72placed_on → rug.n.01 0.31
used_with → weight.n.02 0.95used_with → gym_equipment.n.01 0.72placed_on → rug.n.01 0.31
stationary_exercise_bike
Articraft:rec_air_bike_0001
功能描述 · LLM 常识生成
“A fixed indoor bicycle used for cardiovascular exercise by simulating cycling without ground movement”
“A fixed indoor bicycle used for cardiovascular exercise by simulating cycling without ground movement”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| sit | 0.55 (rule) | 0.50 (urdf_up_z(support)) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| support | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| support | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → gym_equipment.n.01 0.74placed_on → mat.n.01 0.71used_with → towel.n.01 0.67
used_with → gym_equipment.n.01 0.74placed_on → mat.n.01 0.71used_with → towel.n.01 0.67
air_conditioning_machine
Articraft:rec_air_conditioning_machine_0260a8a6290446d1ab2c18c35aaaca1b
功能描述 · LLM 常识生成
“An electrical appliance that cools and dehumidifies indoor air to regulate room temperature and improve comfort”
“An electrical appliance that cools and dehumidifies indoor air to regulate room temperature and improve comfort”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
controls → wall_thermostat_with_articulated_controls 0.84used_with → ceiling_fan.n.01 0.53used_with → window_blind.n.01 0.33
controls → wall_thermostat_with_articulated_controls 0.84used_with → ceiling_fan.n.01 0.53used_with → window_blind.n.01 0.33
air_fryer_with_pullout_basket
Articraft:rec_air_fryer_with_pullout_basket_049e41a4db3d45cdb9c6f24c19cc4ddb
功能描述 · LLM 常识生成
“A countertop cooking appliance that circulates hot air around food in a pullout basket for frying, roasting, and reheating”
“A countertop cooking appliance that circulates hot air around food in a pullout basket for frying, roasting, and reheating”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
requires → wall_socket.n.01 0.98placed_on → countertop.n.01 0.95used_with → kitchen_timer.n.01 0.45
requires → wall_socket.n.01 0.98placed_on → countertop.n.01 0.95used_with → kitchen_timer.n.01 0.45
air_pump_with_t_handle
Articraft:rec_air_pump_with_t_handle_02f3b00959684c66b312de7bdb24a509
功能描述 · LLM 常识生成
“A manual pump with a T-shaped handle, used to force air into inflatable items or pressurized containers”
“A manual pump with a T-shaped handle, used to force air into inflatable items or pressurized containers”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | — |
| grasp | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
used_with → bicycle.n.01 0.84used_with → ball.n.01 0.80used_with → atv_quad_bike 0.28
used_with → bicycle.n.01 0.84used_with → ball.n.01 0.80used_with → atv_quad_bike 0.28
air_purifier_with_filter_door
Articraft:rec_air_purifier_with_filter_door_0001
功能描述 · LLM 常识生成
“An electrical appliance that removes airborne particles and odors from indoor air using internal filters accessed through a service door”
“An electrical appliance that removes airborne particles and odors from indoor air using internal filters accessed through a service door”
| part affordance | label conf | access-direction conf |
|---|---|---|
| support | 0.55 (rule) | 0.50 (urdf_up_z(support)) |
| toggle | 0.55 (rule) | — |
| grasp | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
requires → wall_socket.n.01 0.97placed_on → table.n.02 0.36placed_on → floor_lamp.n.01 0.03
requires → wall_socket.n.01 0.97placed_on → table.n.02 0.36placed_on → floor_lamp.n.01 0.03
all_in_one_printer_with_scanner_lid_and_paper_tray
Articraft:rec_all_in_one_printer_with_scanner_lid_and_paper_tray_0c91d1947bfb4a02b2f7165aefffbf2b
功能描述 · LLM 常识生成
“A multifunction office machine that prints, scans, and often copies documents, with a scanner lid and paper input tray”
“A multifunction office machine that prints, scans, and often copies documents, with a scanner lid and paper input tray”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| support | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| support | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| turn | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
requires → wall_socket.n.01 0.98placed_on → desk.n.01 0.82used_with → desktop_pc_tower 0.72used_with → laptop.n.01 0.66
requires → wall_socket.n.01 0.98placed_on → desk.n.01 0.82used_with → desktop_pc_tower 0.72used_with → laptop.n.01 0.66
stand_mixer
Articraft:rec_an-artisan-style-stand-mixer-with-a-broad-pedest_20260404_174024_454466_a3d76f8b
功能描述 · LLM 常识生成
“A countertop electric mixer with a stationary base and rotating attachments, used for mixing, beating, and kneading food”
“A countertop electric mixer with a stationary base and rotating attachments, used for mixing, beating, and kneading food”
| part affordance | label conf | access-direction conf |
|---|---|---|
| press | 0.55 (rule) | — |
| sit | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| press | 0.80 (rule) | 0.80 (prismatic_open_axis) |
functional dependency
requires → mixing_bowl.n.01 0.95placed_on → countertop.n.01 0.92used_with → kitchen_scale.n.01 0.49
requires → mixing_bowl.n.01 0.95placed_on → countertop.n.01 0.92used_with → kitchen_scale.n.01 0.49
jet_engine
Articraft:rec_an-extremely-realistic-model-of-a-jet-engine-wit_20260318_232012_ec62c1e0
功能描述 · LLM 常识生成
“A reaction engine used to generate thrust by expelling high-speed exhaust gases”
“A reaction engine used to generate thrust by expelling high-speed exhaust gases”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
used_with → drone 0.18used_with → blimp 0.11used_with → single_rotor_helicopter 0.09requires → air_conditioning_machine 0.08
used_with → drone 0.18used_with → blimp 0.11used_with → single_rotor_helicopter 0.09requires → air_conditioning_machine 0.08
orchestra_style_music_stand
Articraft:rec_an-orchestra-style-music-stand-with-a-tripod-bas_20260401_011232_768177_fc8838e1
功能描述 · LLM 常识生成
“A height-adjustable stand with a broad angled tray for supporting sheet music during seated or standing performance”
“A height-adjustable stand with a broad angled tray for supporting sheet music during seated or standing performance”
| part affordance | label conf | access-direction conf |
|---|---|---|
| turn | 0.55 (rule) | — |
| support | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| support | 0.55 (rule) | — |
functional dependency
placed_on → floor 0.95used_with → book.n.02 0.82used_with → microphone.n.01 0.43
placed_on → floor 0.95used_with → book.n.02 0.82used_with → microphone.n.01 0.43
articulated_task_lamp
Articraft:rec_articulated_task_lamp_0001
功能描述 · LLM 常识生成
“An adjustable lamp with jointed arms, used to direct focused light onto work surfaces for reading or detailed tasks”
“An adjustable lamp with jointed arms, used to direct focused light onto work surfaces for reading or detailed tasks”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| toggle | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
placed_on → desk.n.01 0.93requires → wall_socket.n.01 0.89used_with → desktop_monitor_with_tilt_swivel_stand 0.52
placed_on → desk.n.01 0.93requires → wall_socket.n.01 0.89used_with → desktop_monitor_with_tilt_swivel_stand 0.52
astronomical_telescope_on_tripod
Articraft:rec_astronomical_telescope_on_tripod_0001
功能描述 · LLM 常识生成
“An optical instrument mounted on a tripod, used to observe celestial objects such as the moon, planets, and stars”
“An optical instrument mounted on a tripod, used to observe celestial objects such as the moon, planets, and stars”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
placed_on → balcony.n.02 0.38used_with → chair.n.01 0.26used_with → tripodmounted_device 0.24placed_on → roof.n.01 0.21
placed_on → balcony.n.02 0.38used_with → chair.n.01 0.26used_with → tripodmounted_device 0.24placed_on → roof.n.01 0.21
barrier_gate
Articraft:rec_barrier_gate_0001
功能描述 · LLM 常识生成
“A pivoting arm gate that controls vehicle access at entrances, exits, parking areas, or secured roadways”
“A pivoting arm gate that controls vehicle access at entrances, exits, parking areas, or secured roadways”
| part affordance | label conf | access-direction conf |
|---|---|---|
| grasp | 0.55 (rule) | — |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
controls → car.n.01 0.86used_with → car.n.01 0.82used_with → fence.n.01 0.41
controls → car.n.01 0.86used_with → car.n.01 0.82used_with → fence.n.01 0.41
bell_tower_with_swinging_bell
Articraft:rec_bell_tower_with_swinging_bell_0001
功能描述 · LLM 常识生成
“A tower structure that houses a suspended bell, used to ring audible signals for timekeeping, ceremonies, or alerts”
“A tower structure that houses a suspended bell, used to ring audible signals for timekeeping, ceremonies, or alerts”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
used_with → church 0.74used_with → clock_tower_with_rotating_hour_and_minute_hands 0.23placed_on → roof.n.01 0.06
used_with → church 0.74used_with → clock_tower_with_rotating_hour_and_minute_hands 0.23placed_on → roof.n.01 0.06
bench_vise_with_prismatic_jaw
Articraft:rec_bench_vise_with_prismatic_jaw_0001
功能描述 · LLM 常识生成
“A bench-mounted clamping tool with shaped jaws, used to hold workpieces securely during cutting, drilling, or filing”
“A bench-mounted clamping tool with shaped jaws, used to hold workpieces securely during cutting, drilling, or filing”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| open | 0.80 (rule) | 0.80 (revolute_axis_fallback) |
functional dependency
placed_on → workbench.n.01 0.97used_with → workbench.n.01 0.79used_with → power_saw.n.01 0.27used_with → clamp_meter_with_hinged_jaw_and_rotary_selector 0.08
placed_on → workbench.n.01 0.97used_with → workbench.n.01 0.79used_with → power_saw.n.01 0.27used_with → clamp_meter_with_hinged_jaw_and_rotary_selector 0.08
bicycle_crankset_and_pedal_assembly
Articraft:rec_bicycle_crankset_and_pedal_assembly_0001
功能描述 · LLM 常识生成
“The bicycle drivetrain assembly of crank arms, chainrings, and pedals, used to convert leg motion into rotational drive”
“The bicycle drivetrain assembly of crank arms, chainrings, and pedals, used to convert leg motion into rotational drive”
| part affordance | label conf | access-direction conf |
|---|---|---|
| sit | 0.55 (rule) | — |
| turn | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
requires → bicycle.n.01 0.99used_with → bicycle_fork_and_handlebar_assembly 0.43used_with → bicycle_dropper_seatpost_assembly 0.28
requires → bicycle.n.01 0.99used_with → bicycle_fork_and_handlebar_assembly 0.43used_with → bicycle_dropper_seatpost_assembly 0.28
bicycle_dropper_seatpost_assembly
Articraft:rec_bicycle_dropper_seatpost_assembly_0001
功能描述 · LLM 常识生成
“An adjustable bicycle seatpost mechanism that raises or lowers saddle height while riding for comfort and terrain control”
“An adjustable bicycle seatpost mechanism that raises or lowers saddle height while riding for comfort and terrain control”
| part affordance | label conf | access-direction conf |
|---|---|---|
| sit | 0.55 (rule) | 0.50 (urdf_up_z(support)) |
| open | 0.80 (rule) | 0.80 (prismatic_open_axis) |
| sit | 0.55 (rule) | — |
| sit | 0.55 (rule) | — |
functional dependency
requires → bicycle.n.01 0.99used_with → bicycle_fork_and_handlebar_assembly 0.80used_with → bicycle_crankset_and_pedal_assembly 0.76
requires → bicycle.n.01 0.99used_with → bicycle_fork_and_handlebar_assembly 0.80used_with → bicycle_crankset_and_pedal_assembly 0.76
bicycle_fork_and_handlebar_assembly
Articraft:rec_bicycle_fork_and_handlebar_assembly_0001
功能描述 · LLM 常识生成
“The bicycle front steering assembly consisting of the fork and handlebars, used to support the front wheel and control direction”
“The bicycle front steering assembly consisting of the fork and handlebars, used to support the front wheel and control direction”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
| grasp | 0.55 (rule) | — |
functional dependency
requires → bicycle.n.01 0.99used_with → bicycle_crankset_and_pedal_assembly 0.82used_with → bicycle_dropper_seatpost_assembly 0.80
requires → bicycle.n.01 0.99used_with → bicycle_crankset_and_pedal_assembly 0.82used_with → bicycle_dropper_seatpost_assembly 0.80
binoculars
Articraft:rec_binoculars_0001
功能描述 · LLM 常识生成
“A handheld optical device with paired telescopes, used to magnify distant objects for viewing with both eyes”
“A handheld optical device with paired telescopes, used to magnify distant objects for viewing with both eyes”
| part affordance | label conf | access-direction conf |
|---|---|---|
| open | 0.80 (rule) | 0.80 (revolute_tangent_at_centroid) |
functional dependency
placed_on → table.n.02 0.42used_with → astronomical_telescope_on_tripod 0.29placed_on → desk.n.01 0.24
placed_on → table.n.02 0.42used_with → astronomical_telescope_on_tripod 0.29placed_on → desk.n.01 0.24
Unified Annotation Layer v0.1 · 40 of 9996 assets shown · phase2_articraft_derive_v0