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
13ebe9e
·
verified ·
1 Parent(s): 7a3c1f5

Add asset bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/affordance_annot.json +736 -0
  3. dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5701,3 +5701,4 @@ dataset/bathroom_supplies/bath_products/df42d61991625eb689e6c8b7ae6dceea/afforda
5701
  dataset/bathroom_supplies/bath_products/e427ed576c6b51fd93164a2062d91d84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5702
  dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5703
  dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5701
  dataset/bathroom_supplies/bath_products/e427ed576c6b51fd93164a2062d91d84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5702
  dataset/bathroom_supplies/bath_products/e5f75f7c4cf953d9ab66c3e835370a25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5703
  dataset/bathroom_supplies/bath_products/e602ce62d9d95ed582c06ca5a160ff91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5704
+ dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/affordance_annot.json ADDED
@@ -0,0 +1,736 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body at the middle to pick up and move the sanitizer bottle",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body to stabilize it while pressing the pump",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the lower body to place or reorient the bottle on a surface",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain sanitizer liquid",
23
+ "main grasp surface",
24
+ "support pump assembly",
25
+ "provide standing structure"
26
+ ],
27
+ "semantic_description": "Tall light mint-white plastic bottle body with a mostly matte smooth hard surface, rounded cylindrical shape, medium size, and a front printed label on the center.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_6": {
31
+ "confidence": 0.9498210549354553,
32
+ "position": [
33
+ 0.0420366149264737,
34
+ -0.080422472092323,
35
+ -0.1191472951322794
36
+ ],
37
+ "orientation": {
38
+ "w": 0.84256867300104,
39
+ "xyz": [
40
+ -0.4765341298923795,
41
+ -0.09771524446915958,
42
+ 0.23118171494154144
43
+ ]
44
+ }
45
+ },
46
+ "grasp_14": {
47
+ "confidence": 0.9426153302192688,
48
+ "position": [
49
+ -0.09158476853190223,
50
+ -0.007624645601026714,
51
+ -0.11522219516336918
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5939437027489007,
55
+ "xyz": [
56
+ 0.33816721269070854,
57
+ 0.3675143110462593,
58
+ 0.630719466484201
59
+ ]
60
+ }
61
+ }
62
+ }
63
+ },
64
+ {
65
+ "part_name": "front label",
66
+ "mask_color": "Green",
67
+ "graspable": false,
68
+ "grasp_scenarios": [],
69
+ "functional_labels": [
70
+ "display branding",
71
+ "identify product",
72
+ "provide visual information"
73
+ ],
74
+ "semantic_description": "Rectangular cream label on the front body with a smooth flat paper or plastic film surface, small relative size, and visible dark logo and text graphics.",
75
+ "id": 1,
76
+ "grasp_group": {}
77
+ },
78
+ {
79
+ "part_name": "pump collar",
80
+ "mask_color": "Magenta",
81
+ "graspable": true,
82
+ "grasp_scenarios": [
83
+ {
84
+ "scenario": "grasp the ribbed collar to twist or secure the pump assembly during maintenance",
85
+ "confidence": 0.6
86
+ },
87
+ {
88
+ "scenario": "lightly hold the collar to stabilize the bottle neck while manipulating the pump head",
89
+ "confidence": 0.42
90
+ }
91
+ ],
92
+ "functional_labels": [
93
+ "secure pump to bottle",
94
+ "connect pump assembly",
95
+ "provide twisting surface"
96
+ ],
97
+ "semantic_description": "Short black plastic collar around the bottle neck with a slightly glossy hard finish, ribbed texture, and cylindrical ring shape below the pump head.",
98
+ "id": 7,
99
+ "grasp_group": {
100
+ "grasp_40": {
101
+ "confidence": 0.9744622111320496,
102
+ "position": [
103
+ 0.09943202471913537,
104
+ -0.018420658889226615,
105
+ 0.08732401393353939
106
+ ],
107
+ "orientation": {
108
+ "w": 0.45011164031655576,
109
+ "xyz": [
110
+ 0.46232487342415873,
111
+ -0.5315334752110985,
112
+ -0.5487507516121392
113
+ ]
114
+ }
115
+ },
116
+ "grasp_41": {
117
+ "confidence": 0.9720141887664795,
118
+ "position": [
119
+ 0.050699609877483454,
120
+ -0.08894219610374421,
121
+ 0.08267886750400066
122
+ ],
123
+ "orientation": {
124
+ "w": 0.17608487420627258,
125
+ "xyz": [
126
+ 0.19200503362292753,
127
+ -0.6705578787157748,
128
+ -0.6946080300654602
129
+ ]
130
+ }
131
+ },
132
+ "grasp_42": {
133
+ "confidence": 0.9691327810287476,
134
+ "position": [
135
+ 0.09599517619790277,
136
+ 0.01080327678937465,
137
+ 0.11801630817353725
138
+ ],
139
+ "orientation": {
140
+ "w": 0.43129740972851904,
141
+ "xyz": [
142
+ 0.6177475585468045,
143
+ -0.5432453118901305,
144
+ -0.37047945878324623
145
+ ]
146
+ }
147
+ },
148
+ "grasp_43": {
149
+ "confidence": 0.9647262096405029,
150
+ "position": [
151
+ -0.04636243396817008,
152
+ 0.08587663259822875,
153
+ 0.08656354062259197
154
+ ],
155
+ "orientation": {
156
+ "w": 0.17658168926490855,
157
+ "xyz": [
158
+ -0.1724858038635688,
159
+ 0.6824179460660116,
160
+ -0.6880212942699785
161
+ ]
162
+ }
163
+ },
164
+ "grasp_44": {
165
+ "confidence": 0.9644684195518494,
166
+ "position": [
167
+ 0.08049570357979974,
168
+ 0.06179666903335601,
169
+ 0.08610528521239758
170
+ ],
171
+ "orientation": {
172
+ "w": 0.2992859382787824,
173
+ "xyz": [
174
+ -0.32633096955185187,
175
+ -0.6357520610784584,
176
+ 0.632262083549559
177
+ ]
178
+ }
179
+ },
180
+ "grasp_45": {
181
+ "confidence": 0.9636753797531128,
182
+ "position": [
183
+ 0.08170949256600579,
184
+ 0.06063615542370826,
185
+ 0.08552967570722103
186
+ ],
187
+ "orientation": {
188
+ "w": 0.3086277027630348,
189
+ "xyz": [
190
+ -0.3441649817709793,
191
+ -0.6170364833436864,
192
+ 0.6368401562658013
193
+ ]
194
+ }
195
+ },
196
+ "grasp_46": {
197
+ "confidence": 0.962068498134613,
198
+ "position": [
199
+ -0.0970399718862609,
200
+ -0.021523358183912933,
201
+ 0.08716775290668011
202
+ ],
203
+ "orientation": {
204
+ "w": 0.553388914848958,
205
+ "xyz": [
206
+ -0.5358310600120187,
207
+ 0.46876727277988395,
208
+ -0.43232282847335146
209
+ ]
210
+ }
211
+ },
212
+ "grasp_47": {
213
+ "confidence": 0.9605597853660583,
214
+ "position": [
215
+ -0.03957057782827178,
216
+ -0.09652611974161118,
217
+ 0.08542283438146114
218
+ ],
219
+ "orientation": {
220
+ "w": 0.155156728739655,
221
+ "xyz": [
222
+ 0.1362846939173454,
223
+ 0.6984595850411452,
224
+ 0.6852058667253336
225
+ ]
226
+ }
227
+ },
228
+ "grasp_48": {
229
+ "confidence": 0.9596795439720154,
230
+ "position": [
231
+ 0.09783135688485345,
232
+ -0.015715887653641403,
233
+ 0.0915918555110693
234
+ ],
235
+ "orientation": {
236
+ "w": 0.5126123002306867,
237
+ "xyz": [
238
+ -0.5595831671607792,
239
+ -0.4614435561680348,
240
+ 0.4595270973005984
241
+ ]
242
+ }
243
+ },
244
+ "grasp_49": {
245
+ "confidence": 0.9589316844940186,
246
+ "position": [
247
+ 0.08997738695325097,
248
+ -0.03827015671413392,
249
+ 0.0902839656919241
250
+ ],
251
+ "orientation": {
252
+ "w": 0.5634221209830506,
253
+ "xyz": [
254
+ -0.614390510928359,
255
+ -0.38607607752901274,
256
+ 0.39500009623791515
257
+ ]
258
+ }
259
+ },
260
+ "grasp_50": {
261
+ "confidence": 0.9587336778640747,
262
+ "position": [
263
+ -0.09292896503029624,
264
+ 0.015607772511430085,
265
+ 0.11152818612754345
266
+ ],
267
+ "orientation": {
268
+ "w": 0.383436654096272,
269
+ "xyz": [
270
+ -0.5152075870089396,
271
+ 0.6079827533143747,
272
+ -0.4667916518706759
273
+ ]
274
+ }
275
+ },
276
+ "grasp_51": {
277
+ "confidence": 0.9583072662353516,
278
+ "position": [
279
+ 0.09391340947331628,
280
+ 0.03722554829437286,
281
+ 0.08450583182275295
282
+ ],
283
+ "orientation": {
284
+ "w": 0.37322903085613895,
285
+ "xyz": [
286
+ -0.40646537704414504,
287
+ -0.595778832795302,
288
+ 0.5835525427788111
289
+ ]
290
+ }
291
+ },
292
+ "grasp_52": {
293
+ "confidence": 0.9582161903381348,
294
+ "position": [
295
+ 0.09891578889073571,
296
+ 0.011653531459160149,
297
+ 0.08840288035571575
298
+ ],
299
+ "orientation": {
300
+ "w": 0.4474257988190285,
301
+ "xyz": [
302
+ -0.5074829751475115,
303
+ -0.5079574865508961,
304
+ 0.5331513634452049
305
+ ]
306
+ }
307
+ },
308
+ "grasp_53": {
309
+ "confidence": 0.9569798707962036,
310
+ "position": [
311
+ 0.09334209150256356,
312
+ -0.006082439213059843,
313
+ 0.11933632753789425
314
+ ],
315
+ "orientation": {
316
+ "w": 0.35304344998054077,
317
+ "xyz": [
318
+ 0.6085125748491472,
319
+ -0.5909232603634315,
320
+ -0.3948195398378236
321
+ ]
322
+ }
323
+ },
324
+ "grasp_54": {
325
+ "confidence": 0.9548263549804688,
326
+ "position": [
327
+ 0.09039426928939065,
328
+ -0.04783491778653115,
329
+ 0.07650500349700451
330
+ ],
331
+ "orientation": {
332
+ "w": 0.35676342678944234,
333
+ "xyz": [
334
+ 0.3767818137227697,
335
+ -0.6073507797897543,
336
+ -0.6015649195573252
337
+ ]
338
+ }
339
+ },
340
+ "grasp_55": {
341
+ "confidence": 0.9531127214431763,
342
+ "position": [
343
+ 0.08512819892348489,
344
+ 0.05490839492995292,
345
+ 0.07915347628295422
346
+ ],
347
+ "orientation": {
348
+ "w": 0.613503718788873,
349
+ "xyz": [
350
+ 0.6263037766646031,
351
+ -0.3206411578665779,
352
+ -0.35853314247062207
353
+ ]
354
+ }
355
+ },
356
+ "grasp_56": {
357
+ "confidence": 0.9530899524688721,
358
+ "position": [
359
+ -0.05302558132825652,
360
+ 0.08897226687986404,
361
+ 0.07171291671693325
362
+ ],
363
+ "orientation": {
364
+ "w": 0.1904250919279761,
365
+ "xyz": [
366
+ -0.1860061790786018,
367
+ 0.6953624924059956,
368
+ -0.6675410023839147
369
+ ]
370
+ }
371
+ },
372
+ "grasp_57": {
373
+ "confidence": 0.9527390003204346,
374
+ "position": [
375
+ -0.02851623707829276,
376
+ 0.0903962739976123,
377
+ 0.11696837656199932
378
+ ],
379
+ "orientation": {
380
+ "w": 0.07558433563424255,
381
+ "xyz": [
382
+ -0.13611421223023332,
383
+ 0.8047085632966543,
384
+ -0.5728909648377322
385
+ ]
386
+ }
387
+ },
388
+ "grasp_58": {
389
+ "confidence": 0.9519213438034058,
390
+ "position": [
391
+ 0.04586305058182916,
392
+ -0.09162344399373978,
393
+ 0.08325598947703838
394
+ ],
395
+ "orientation": {
396
+ "w": 0.6893588375596246,
397
+ "xyz": [
398
+ -0.6856009909538312,
399
+ -0.13254772371551637,
400
+ 0.19278686474810242
401
+ ]
402
+ }
403
+ },
404
+ "grasp_59": {
405
+ "confidence": 0.9505130052566528,
406
+ "position": [
407
+ 0.09669732636393746,
408
+ -0.02524592529516667,
409
+ 0.08154781721532345
410
+ ],
411
+ "orientation": {
412
+ "w": 0.40988365104658364,
413
+ "xyz": [
414
+ 0.441264383413678,
415
+ -0.5685496756177095,
416
+ -0.5603859410176761
417
+ ]
418
+ }
419
+ }
420
+ }
421
+ },
422
+ {
423
+ "part_name": "pump stem",
424
+ "mask_color": "Purple",
425
+ "graspable": false,
426
+ "grasp_scenarios": [],
427
+ "functional_labels": [
428
+ "connect pump head to dispenser",
429
+ "transmit pressing motion",
430
+ "route sanitizer upward"
431
+ ],
432
+ "semantic_description": "Small narrow black plastic stem segment with a smooth hard surface, located between the collar and pump head and mostly hidden by surrounding parts.",
433
+ "id": 5,
434
+ "grasp_group": {}
435
+ },
436
+ {
437
+ "part_name": "pump head",
438
+ "mask_color": "Yellow",
439
+ "graspable": true,
440
+ "grasp_scenarios": [
441
+ {
442
+ "scenario": "grasp the pump head to rotate it for locking or unlocking",
443
+ "confidence": 0.65
444
+ },
445
+ {
446
+ "scenario": "lightly pinch the pump head to orient the dispensing direction",
447
+ "confidence": 0.44
448
+ }
449
+ ],
450
+ "functional_labels": [
451
+ "dispense sanitizer",
452
+ "direct output stream",
453
+ "serve as press surface",
454
+ "indicate dispensing direction"
455
+ ],
456
+ "semantic_description": "Curved black plastic pump head with a satin smooth hard surface, asymmetrical spout shape, small top-mounted size, and a broad upper area for pressing.",
457
+ "id": 3,
458
+ "grasp_group": {
459
+ "grasp_20": {
460
+ "confidence": 0.9254727363586426,
461
+ "position": [
462
+ -0.09436954223929206,
463
+ -0.022348565864376724,
464
+ 0.1171723660081625
465
+ ],
466
+ "orientation": {
467
+ "w": 0.5641130646230301,
468
+ "xyz": [
469
+ -0.5178970764439459,
470
+ 0.487106168692262,
471
+ -0.4198650365943466
472
+ ]
473
+ }
474
+ },
475
+ "grasp_21": {
476
+ "confidence": 0.9177657961845398,
477
+ "position": [
478
+ 0.09523739999713143,
479
+ 0.026075206813402474,
480
+ 0.1119691263884306
481
+ ],
482
+ "orientation": {
483
+ "w": 0.5585039393959026,
484
+ "xyz": [
485
+ 0.5682958280538768,
486
+ -0.4099483472659152,
487
+ -0.4439093984922612
488
+ ]
489
+ }
490
+ },
491
+ "grasp_22": {
492
+ "confidence": 0.917272686958313,
493
+ "position": [
494
+ -0.02736475543497363,
495
+ 0.09260040905792266,
496
+ 0.11685710214078426
497
+ ],
498
+ "orientation": {
499
+ "w": 0.11065729964278664,
500
+ "xyz": [
501
+ -0.10271321154603304,
502
+ 0.7053501877078673,
503
+ -0.6925937271663258
504
+ ]
505
+ }
506
+ },
507
+ "grasp_23": {
508
+ "confidence": 0.9168449640274048,
509
+ "position": [
510
+ -0.061491247652156744,
511
+ -0.08124205085914582,
512
+ 0.10965164564549923
513
+ ],
514
+ "orientation": {
515
+ "w": 0.684224240723202,
516
+ "xyz": [
517
+ -0.6436907875051081,
518
+ 0.25597458995765277,
519
+ -0.22798326206943934
520
+ ]
521
+ }
522
+ },
523
+ "grasp_24": {
524
+ "confidence": 0.9154734015464783,
525
+ "position": [
526
+ 0.09764845258177957,
527
+ -0.030371313798241317,
528
+ 0.11733990721404552
529
+ ],
530
+ "orientation": {
531
+ "w": 0.5600188881818294,
532
+ "xyz": [
533
+ -0.5789391683847984,
534
+ -0.4188653014099143,
535
+ 0.41923757401297784
536
+ ]
537
+ }
538
+ },
539
+ "grasp_25": {
540
+ "confidence": 0.9013760089874268,
541
+ "position": [
542
+ 0.0800726521629258,
543
+ -0.062224794062785804,
544
+ 0.1181009691208601
545
+ ],
546
+ "orientation": {
547
+ "w": 0.28418829020956776,
548
+ "xyz": [
549
+ 0.32452239434594493,
550
+ -0.6465608487334756,
551
+ -0.6291909886201364
552
+ ]
553
+ }
554
+ },
555
+ "grasp_26": {
556
+ "confidence": 0.900636613368988,
557
+ "position": [
558
+ -0.08546749168453971,
559
+ -0.04400700319092721,
560
+ 0.1231194268912077
561
+ ],
562
+ "orientation": {
563
+ "w": 0.3549627592009017,
564
+ "xyz": [
565
+ 0.40568044598438674,
566
+ 0.6203107372036226,
567
+ 0.569771361720024
568
+ ]
569
+ }
570
+ },
571
+ "grasp_27": {
572
+ "confidence": 0.8955370783805847,
573
+ "position": [
574
+ 0.09952194577635964,
575
+ 0.0033013058127835393,
576
+ 0.11689772270619869
577
+ ],
578
+ "orientation": {
579
+ "w": 0.50878262914859,
580
+ "xyz": [
581
+ 0.5077355530916587,
582
+ -0.5025744983121788,
583
+ -0.4803787235605021
584
+ ]
585
+ }
586
+ },
587
+ "grasp_28": {
588
+ "confidence": 0.8909099698066711,
589
+ "position": [
590
+ 0.004168337756709661,
591
+ -0.10385721537750214,
592
+ 0.10879330895841122
593
+ ],
594
+ "orientation": {
595
+ "w": 0.7251855435523602,
596
+ "xyz": [
597
+ -0.6870637050500825,
598
+ 0.012399765363554027,
599
+ 0.0435389302171083
600
+ ]
601
+ }
602
+ },
603
+ "grasp_29": {
604
+ "confidence": 0.8868453502655029,
605
+ "position": [
606
+ -0.08098619097290793,
607
+ -0.060977883520536125,
608
+ 0.10769505612552166
609
+ ],
610
+ "orientation": {
611
+ "w": 0.663558551311824,
612
+ "xyz": [
613
+ -0.5744657489504926,
614
+ 0.37964664447844154,
615
+ -0.2924851750088579
616
+ ]
617
+ }
618
+ },
619
+ "grasp_30": {
620
+ "confidence": 0.8814399838447571,
621
+ "position": [
622
+ 0.09113970732869348,
623
+ 0.03742991026956588,
624
+ 0.1259613987058401
625
+ ],
626
+ "orientation": {
627
+ "w": 0.3626010328824974,
628
+ "xyz": [
629
+ -0.4103924961976945,
630
+ -0.6162976616998276,
631
+ 0.5659290434325635
632
+ ]
633
+ }
634
+ },
635
+ "grasp_32": {
636
+ "confidence": 0.796415388584137,
637
+ "position": [
638
+ 0.06419490611733636,
639
+ -0.08884907874744385,
640
+ 0.11270773969590664
641
+ ],
642
+ "orientation": {
643
+ "w": 0.24739838019680335,
644
+ "xyz": [
645
+ 0.2087714649705793,
646
+ -0.6619382785040964,
647
+ -0.6760519450020609
648
+ ]
649
+ }
650
+ },
651
+ "grasp_33": {
652
+ "confidence": 0.7854686379432678,
653
+ "position": [
654
+ 0.04265873840631684,
655
+ 0.08721446630079299,
656
+ 0.10828879289329052
657
+ ],
658
+ "orientation": {
659
+ "w": 0.7009454578825682,
660
+ "xyz": [
661
+ 0.6744932519428023,
662
+ -0.06153026136355266,
663
+ -0.2234912640215553
664
+ ]
665
+ }
666
+ },
667
+ "grasp_35": {
668
+ "confidence": 0.43011629581451416,
669
+ "position": [
670
+ 0.03831293767871102,
671
+ 0.09088669356424361,
672
+ 0.10899991355836391
673
+ ],
674
+ "orientation": {
675
+ "w": 0.6764357029896664,
676
+ "xyz": [
677
+ 0.6860422007696669,
678
+ 0.0302468479011343,
679
+ -0.26620662402733963
680
+ ]
681
+ }
682
+ },
683
+ "grasp_38": {
684
+ "confidence": 0.9439641237258911,
685
+ "position": [
686
+ 0.04624627492012223,
687
+ 0.06967841472942382,
688
+ 0.16412108205258846
689
+ ],
690
+ "orientation": {
691
+ "w": 0.14098373906882733,
692
+ "xyz": [
693
+ -0.2705394055479062,
694
+ -0.8227171194120165,
695
+ 0.47965462240069334
696
+ ]
697
+ }
698
+ },
699
+ "grasp_39": {
700
+ "confidence": 0.9426408410072327,
701
+ "position": [
702
+ 0.015087931031303015,
703
+ 0.08195327606517822,
704
+ 0.16501238010823727
705
+ ],
706
+ "orientation": {
707
+ "w": 0.07465986556288585,
708
+ "xyz": [
709
+ 0.0025642171269178236,
710
+ -0.8663491274836368,
711
+ 0.4938203302548394
712
+ ]
713
+ }
714
+ }
715
+ }
716
+ },
717
+ {
718
+ "part_name": "neck ring",
719
+ "mask_color": "Cyan",
720
+ "graspable": false,
721
+ "grasp_scenarios": [],
722
+ "functional_labels": [
723
+ "space pump components",
724
+ "support pump head seating",
725
+ "provide transition between neck parts"
726
+ ],
727
+ "semantic_description": "Thin black plastic ring with a smooth hard slightly glossy surface, encircling the neck just below the pump head as a small spacer-like part.",
728
+ "id": 6,
729
+ "grasp_group": {}
730
+ }
731
+ ],
732
+ "quality_check": {
733
+ "success": true,
734
+ "message": "YES"
735
+ }
736
+ }
dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de3e08c2c909d69bd4352b5b33c4626eec6012f8a279b370c31ca0e694c04f60
3
+ size 37332008