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
0e942d2
·
verified ·
1 Parent(s): 8adc089

Add asset bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/affordance_annot.json +658 -0
  3. dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5588,4 +5588,4 @@ dataset/bathroom_supplies/bath_products/34c1e24fcd9550aca944d9a66a3c8046/afforda
5588
  dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5589
  dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5590
  dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5591
- dataset/bathroom_supplies/bath_products/3bd05c63f7dc514bb20fe71b381db020/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5588
  dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5589
  dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5590
  dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5591
+ dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/affordance_annot.json ADDED
@@ -0,0 +1,658 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump head",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pump head to rotate or align the dispenser for opening or closing",
10
+ "confidence": 0.56
11
+ },
12
+ {
13
+ "scenario": "pinch the pump head to stabilize the top while manipulating the bottle",
14
+ "confidence": 0.42
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense lotion when pressed",
19
+ "provide finger press surface",
20
+ "indicate nozzle direction",
21
+ "control outlet position"
22
+ ],
23
+ "semantic_description": "Small off-white plastic pump head with a smooth satin finish and hard surface, shaped like a short curved spout on the bottle top.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.24750646948814392,
28
+ "position": [
29
+ 0.09526555445336271,
30
+ -0.021106604443048127,
31
+ 0.06465269473847002
32
+ ],
33
+ "orientation": {
34
+ "w": 0.38214589262016285,
35
+ "xyz": [
36
+ 0.5218575504422057,
37
+ -0.4973160416998026,
38
+ -0.5781919823622953
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9681098461151123,
44
+ "position": [
45
+ -0.002270876240800135,
46
+ 0.07779059190943372,
47
+ 0.1239156782394275
48
+ ],
49
+ "orientation": {
50
+ "w": 0.41810308425705583,
51
+ "xyz": [
52
+ 0.8975470607710943,
53
+ 0.13585531390641997,
54
+ -0.03379967927798826
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.9730252027511597,
60
+ "position": [
61
+ 0.015604792351950891,
62
+ -0.08645601938769687,
63
+ 0.11713196185883135
64
+ ],
65
+ "orientation": {
66
+ "w": 0.45824706469520987,
67
+ "xyz": [
68
+ -0.8856524176513129,
69
+ -0.013020721292648363,
70
+ 0.07389102532532472
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.9687721729278564,
76
+ "position": [
77
+ 0.007325837112148292,
78
+ -0.08713956545398105,
79
+ 0.11901610193308443
80
+ ],
81
+ "orientation": {
82
+ "w": 0.46345904854272524,
83
+ "xyz": [
84
+ -0.8850156524631848,
85
+ 0.015931102336529,
86
+ 0.041221416731818845
87
+ ]
88
+ }
89
+ },
90
+ "grasp_24": {
91
+ "confidence": 0.9682645201683044,
92
+ "position": [
93
+ 0.0004244711162755266,
94
+ 0.07836470384791028,
95
+ 0.12331621942576021
96
+ ],
97
+ "orientation": {
98
+ "w": 0.027208623036500533,
99
+ "xyz": [
100
+ 0.024273725396186163,
101
+ 0.9070188473280727,
102
+ -0.41950838809194535
103
+ ]
104
+ }
105
+ },
106
+ "grasp_25": {
107
+ "confidence": 0.9496317505836487,
108
+ "position": [
109
+ -0.001822800884838216,
110
+ -0.0831673256616341,
111
+ 0.12267909047659487
112
+ ],
113
+ "orientation": {
114
+ "w": 0.43969392593139955,
115
+ "xyz": [
116
+ -0.8867502247725297,
117
+ 0.1340144949687156,
118
+ 0.04882013419872081
119
+ ]
120
+ }
121
+ },
122
+ "grasp_32": {
123
+ "confidence": 0.9764925241470337,
124
+ "position": [
125
+ 0.012400550025631674,
126
+ -0.08582241456315387,
127
+ 0.11328950372990221
128
+ ],
129
+ "orientation": {
130
+ "w": 0.4740109783629126,
131
+ "xyz": [
132
+ -0.8787037077966832,
133
+ -0.011178703794954947,
134
+ 0.055393346868197586
135
+ ]
136
+ }
137
+ },
138
+ "grasp_33": {
139
+ "confidence": 0.9669312238693237,
140
+ "position": [
141
+ 0.008235714587499388,
142
+ 0.08896907050802838,
143
+ 0.09775899944361299
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5436477547969712,
147
+ "xyz": [
148
+ 0.8387495428762719,
149
+ 0.016810248415908946,
150
+ -0.02576312436899448
151
+ ]
152
+ }
153
+ },
154
+ "grasp_34": {
155
+ "confidence": 0.9652169942855835,
156
+ "position": [
157
+ 0.006608732699532993,
158
+ -0.08767864476249088,
159
+ 0.11650861648377031
160
+ ],
161
+ "orientation": {
162
+ "w": 0.45851550461654067,
163
+ "xyz": [
164
+ -0.8801879334881241,
165
+ 0.10120154087722782,
166
+ 0.06921691911822848
167
+ ]
168
+ }
169
+ },
170
+ "grasp_35": {
171
+ "confidence": 0.9487398862838745,
172
+ "position": [
173
+ -0.03145784679509234,
174
+ 0.04933059592440259,
175
+ 0.1395273566013202
176
+ ],
177
+ "orientation": {
178
+ "w": 0.27074621526517023,
179
+ "xyz": [
180
+ 0.9429293215752864,
181
+ 0.12953318696967864,
182
+ 0.1442287589443744
183
+ ]
184
+ }
185
+ },
186
+ "grasp_36": {
187
+ "confidence": 0.9340279698371887,
188
+ "position": [
189
+ 0.007982953640748747,
190
+ -0.027456419498776086,
191
+ 0.1544603913789615
192
+ ],
193
+ "orientation": {
194
+ "w": 0.09558885450985742,
195
+ "xyz": [
196
+ -0.9475825130636997,
197
+ 0.29843537256923447,
198
+ 0.06234164121066427
199
+ ]
200
+ }
201
+ },
202
+ "grasp_38": {
203
+ "confidence": 0.9270468950271606,
204
+ "position": [
205
+ 0.0427058322384255,
206
+ 0.03976397593214642,
207
+ 0.13767772016581148
208
+ ],
209
+ "orientation": {
210
+ "w": 0.23310446940224883,
211
+ "xyz": [
212
+ 0.9500122691222667,
213
+ -0.04067676284605681,
214
+ -0.20367718533557802
215
+ ]
216
+ }
217
+ },
218
+ "grasp_39": {
219
+ "confidence": 0.9248430728912354,
220
+ "position": [
221
+ 0.03545003962062765,
222
+ 0.06112904478504788,
223
+ 0.13380326924379915
224
+ ],
225
+ "orientation": {
226
+ "w": 0.10265766325584787,
227
+ "xyz": [
228
+ -0.21637902752818985,
229
+ -0.9069828517553239,
230
+ 0.3464442628224401
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "pump collar",
238
+ "mask_color": "Green",
239
+ "graspable": false,
240
+ "grasp_scenarios": [],
241
+ "functional_labels": [
242
+ "connect pump head to bottle neck",
243
+ "support the dispenser assembly",
244
+ "help seal the top"
245
+ ],
246
+ "semantic_description": "Narrow off-white plastic ring below the pump head with a smooth hard surface, forming a small cylindrical connector at the top of the bottle.",
247
+ "id": 1,
248
+ "grasp_group": {}
249
+ },
250
+ {
251
+ "part_name": "neck of lotion bottle",
252
+ "mask_color": "Red",
253
+ "graspable": true,
254
+ "grasp_scenarios": [
255
+ {
256
+ "scenario": "grasp the neck to lift or reposition the bottle during handling",
257
+ "confidence": 0.63
258
+ },
259
+ {
260
+ "scenario": "hold the neck to stabilize the bottle while pressing the pump",
261
+ "confidence": 0.58
262
+ }
263
+ ],
264
+ "functional_labels": [
265
+ "support the pump assembly",
266
+ "connect body to dispenser",
267
+ "provide a narrow stabilizing grip"
268
+ ],
269
+ "semantic_description": "Short off-white plastic neck section with a smooth satin surface and hard feel, located between the main bottle body and the pump assembly.",
270
+ "id": 0,
271
+ "grasp_group": {
272
+ "grasp_0": {
273
+ "confidence": 0.9795143604278564,
274
+ "position": [
275
+ -0.004243591611157171,
276
+ 0.09471071143343579,
277
+ 0.08029030112084001
278
+ ],
279
+ "orientation": {
280
+ "w": 0.564481638709602,
281
+ "xyz": [
282
+ 0.8205884414535345,
283
+ 0.08612101637947012,
284
+ -0.024047034127905393
285
+ ]
286
+ }
287
+ },
288
+ "grasp_2": {
289
+ "confidence": 0.9108526706695557,
290
+ "position": [
291
+ 0.0025940632476704195,
292
+ -0.0814013964991318,
293
+ 0.09907479432877153
294
+ ],
295
+ "orientation": {
296
+ "w": 0.021008094887783324,
297
+ "xyz": [
298
+ 0.01583687957827199,
299
+ -0.8798986542401858,
300
+ -0.4744325151807356
301
+ ]
302
+ }
303
+ },
304
+ "grasp_3": {
305
+ "confidence": 0.5528698563575745,
306
+ "position": [
307
+ -0.07833456042862963,
308
+ 0.015051492533530109,
309
+ 0.09938771871384233
310
+ ],
311
+ "orientation": {
312
+ "w": 0.3541308732868207,
313
+ "xyz": [
314
+ 0.6963895437772943,
315
+ 0.5387746031170638,
316
+ 0.31520605155804904
317
+ ]
318
+ }
319
+ },
320
+ "grasp_5": {
321
+ "confidence": 0.4738846719264984,
322
+ "position": [
323
+ 0.09167810734652448,
324
+ -0.03344659502909053,
325
+ 0.055717563605867326
326
+ ],
327
+ "orientation": {
328
+ "w": 0.3416377832926971,
329
+ "xyz": [
330
+ 0.4791379387889981,
331
+ -0.5775676131275751,
332
+ -0.5657968830826119
333
+ ]
334
+ }
335
+ },
336
+ "grasp_6": {
337
+ "confidence": 0.46927452087402344,
338
+ "position": [
339
+ -0.09682059082842898,
340
+ 0.004399782090331428,
341
+ 0.06459788081701845
342
+ ],
343
+ "orientation": {
344
+ "w": 0.4366296922417939,
345
+ "xyz": [
346
+ 0.5791965192407641,
347
+ 0.5240632157850802,
348
+ 0.4463671692824424
349
+ ]
350
+ }
351
+ },
352
+ "grasp_7": {
353
+ "confidence": 0.3779290020465851,
354
+ "position": [
355
+ 0.08075702395581175,
356
+ 0.004362322899396531,
357
+ 0.09973911789711565
358
+ ],
359
+ "orientation": {
360
+ "w": 0.3226073563087678,
361
+ "xyz": [
362
+ 0.6922856711178437,
363
+ -0.5446095606156922,
364
+ -0.34650464600978576
365
+ ]
366
+ }
367
+ },
368
+ "grasp_8": {
369
+ "confidence": 0.9559887051582336,
370
+ "position": [
371
+ -0.0076739003852708265,
372
+ 0.07028203834488522,
373
+ 0.11263608036097139
374
+ ],
375
+ "orientation": {
376
+ "w": 0.3964244921152173,
377
+ "xyz": [
378
+ 0.8994250324971913,
379
+ 0.18283144696676384,
380
+ -0.021328266892974727
381
+ ]
382
+ }
383
+ },
384
+ "grasp_9": {
385
+ "confidence": 0.6018377542495728,
386
+ "position": [
387
+ -0.07001846078492235,
388
+ 0.038169931664015166,
389
+ 0.10207976994570345
390
+ ],
391
+ "orientation": {
392
+ "w": 0.41081044093504504,
393
+ "xyz": [
394
+ 0.7196081513709754,
395
+ 0.5157191765159258,
396
+ 0.21779031446080677
397
+ ]
398
+ }
399
+ },
400
+ "grasp_10": {
401
+ "confidence": 0.46532008051872253,
402
+ "position": [
403
+ 0.0844788422837155,
404
+ 0.02048505660786759,
405
+ 0.09303510037716478
406
+ ],
407
+ "orientation": {
408
+ "w": 0.3438267616003056,
409
+ "xyz": [
410
+ 0.7492473295738835,
411
+ -0.4320967984437687,
412
+ -0.365655512618771
413
+ ]
414
+ }
415
+ },
416
+ "grasp_11": {
417
+ "confidence": 0.9754239320755005,
418
+ "position": [
419
+ -0.004815534033696167,
420
+ 0.09387156744196545,
421
+ 0.09226330963429064
422
+ ],
423
+ "orientation": {
424
+ "w": 0.5235568222736743,
425
+ "xyz": [
426
+ 0.8449831211988404,
427
+ 0.10711087973198574,
428
+ -0.020470422145084766
429
+ ]
430
+ }
431
+ },
432
+ "grasp_12": {
433
+ "confidence": 0.9744593501091003,
434
+ "position": [
435
+ -0.013715348948608153,
436
+ 0.07974407453730237,
437
+ 0.10660755482967943
438
+ ],
439
+ "orientation": {
440
+ "w": 0.0633098035194567,
441
+ "xyz": [
442
+ -0.041631256128009324,
443
+ 0.8928783865122306,
444
+ -0.4438771160927843
445
+ ]
446
+ }
447
+ },
448
+ "grasp_13": {
449
+ "confidence": 0.9723023772239685,
450
+ "position": [
451
+ -0.014492122267256491,
452
+ 0.08924577762081753,
453
+ 0.09850382653530687
454
+ ],
455
+ "orientation": {
456
+ "w": 0.07172875114860029,
457
+ "xyz": [
458
+ -0.01606069203353094,
459
+ 0.8719666063770198,
460
+ -0.48401578258710637
461
+ ]
462
+ }
463
+ },
464
+ "grasp_14": {
465
+ "confidence": 0.9659139513969421,
466
+ "position": [
467
+ -0.02597152795351576,
468
+ 0.07495888699486386,
469
+ 0.10393858549650759
470
+ ],
471
+ "orientation": {
472
+ "w": 0.08600891824921027,
473
+ "xyz": [
474
+ -0.12529048368148493,
475
+ 0.8925714489503487,
476
+ -0.42452440353781234
477
+ ]
478
+ }
479
+ },
480
+ "grasp_15": {
481
+ "confidence": 0.9554765224456787,
482
+ "position": [
483
+ -0.03368949684954714,
484
+ 0.08036056537821423,
485
+ 0.10146432218607515
486
+ ],
487
+ "orientation": {
488
+ "w": 0.15548519360111152,
489
+ "xyz": [
490
+ -0.03905653594504937,
491
+ 0.8817519937215804,
492
+ -0.44363539437111615
493
+ ]
494
+ }
495
+ },
496
+ "grasp_16": {
497
+ "confidence": 0.9254341721534729,
498
+ "position": [
499
+ 0.0043177192128496245,
500
+ -0.09365550051734317,
501
+ 0.08448591677006334
502
+ ],
503
+ "orientation": {
504
+ "w": 0.06317323062911011,
505
+ "xyz": [
506
+ -0.0677984196686945,
507
+ 0.8257304775978658,
508
+ 0.5564006610243286
509
+ ]
510
+ }
511
+ },
512
+ "grasp_18": {
513
+ "confidence": 0.9023340344429016,
514
+ "position": [
515
+ 0.0050996958307223395,
516
+ -0.07505259285971988,
517
+ 0.11510540393646806
518
+ ],
519
+ "orientation": {
520
+ "w": 0.02327323230298701,
521
+ "xyz": [
522
+ -0.047367401422559435,
523
+ 0.9212531797964603,
524
+ 0.3853664031224771
525
+ ]
526
+ }
527
+ },
528
+ "grasp_19": {
529
+ "confidence": 0.8008615374565125,
530
+ "position": [
531
+ 0.022255379895796068,
532
+ -0.05141409109637607,
533
+ 0.12848497030790895
534
+ ],
535
+ "orientation": {
536
+ "w": 0.2765897554576579,
537
+ "xyz": [
538
+ -0.9359278322885857,
539
+ -0.2112238381593421,
540
+ 0.05405266058852372
541
+ ]
542
+ }
543
+ }
544
+ }
545
+ },
546
+ {
547
+ "part_name": "bottle body",
548
+ "mask_color": "Purple",
549
+ "graspable": true,
550
+ "grasp_scenarios": [
551
+ {
552
+ "scenario": "grasp the bottle body to pick up and carry the lotion bottle",
553
+ "confidence": 0.95
554
+ },
555
+ {
556
+ "scenario": "hold the bottle body while pressing the pump to dispense lotion",
557
+ "confidence": 0.92
558
+ },
559
+ {
560
+ "scenario": "grasp the body to reorient the bottle for storage or placement",
561
+ "confidence": 0.9
562
+ }
563
+ ],
564
+ "functional_labels": [
565
+ "contain lotion",
566
+ "provide main grasp surface",
567
+ "support standing placement",
568
+ "stabilize the dispenser"
569
+ ],
570
+ "semantic_description": "Large rounded off-white plastic bottle body with a smooth matte-to-satin finish, hard surface, and softly asymmetric teardrop shape forming the main container, with faint embossed side markings visible.",
571
+ "id": 5,
572
+ "grasp_group": {
573
+ "grasp_41": {
574
+ "confidence": 0.977262020111084,
575
+ "position": [
576
+ 0.008046436312724836,
577
+ -0.08451849590346683,
578
+ -0.0910983100766316
579
+ ],
580
+ "orientation": {
581
+ "w": 0.8997591036890227,
582
+ "xyz": [
583
+ -0.4245703275503152,
584
+ 0.01831661154511688,
585
+ 0.09918716668022617
586
+ ]
587
+ }
588
+ },
589
+ "grasp_44": {
590
+ "confidence": 0.9763169288635254,
591
+ "position": [
592
+ -0.020884036828647368,
593
+ 0.11173092950775754,
594
+ -0.032090199762023985
595
+ ],
596
+ "orientation": {
597
+ "w": 0.060829327220184255,
598
+ "xyz": [
599
+ -0.06924252956779131,
600
+ 0.6871631515706783,
601
+ -0.7206331023290881
602
+ ]
603
+ }
604
+ },
605
+ "grasp_51": {
606
+ "confidence": 0.9754251837730408,
607
+ "position": [
608
+ -0.0160144640103681,
609
+ 0.1133840494294418,
610
+ -0.03188572230283171
611
+ ],
612
+ "orientation": {
613
+ "w": 0.053793754131435015,
614
+ "xyz": [
615
+ -0.05593226088001773,
616
+ 0.6864511877936456,
617
+ -0.7230232229921731
618
+ ]
619
+ }
620
+ },
621
+ "grasp_55": {
622
+ "confidence": 0.9744229912757874,
623
+ "position": [
624
+ -0.030903985534678213,
625
+ 0.10046097268059384,
626
+ -0.06664193572942168
627
+ ],
628
+ "orientation": {
629
+ "w": 0.8363047417727102,
630
+ "xyz": [
631
+ 0.5275711872996206,
632
+ 0.11925385610215888,
633
+ 0.08967462865557502
634
+ ]
635
+ }
636
+ }
637
+ }
638
+ },
639
+ {
640
+ "part_name": "front label or embossed mark",
641
+ "mask_color": "Yellow",
642
+ "graspable": false,
643
+ "grasp_scenarios": [],
644
+ "functional_labels": [
645
+ "provide branding or product identification",
646
+ "indicate front orientation",
647
+ "add surface detail"
648
+ ],
649
+ "semantic_description": "Small narrow vertical marking on the front side of the bottle, appearing as a subtle light-toned embossed or printed detail on the smooth off-white plastic surface.",
650
+ "id": 3,
651
+ "grasp_group": {}
652
+ }
653
+ ],
654
+ "quality_check": {
655
+ "success": true,
656
+ "message": "YES"
657
+ }
658
+ }
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7f491661ac87e2cc1a89163de862111370e30e5602f78320e49f11f214d2444
3
+ size 3782892