xinjjj commited on
Commit
1f4973a
·
verified ·
1 Parent(s): 25fca5f

Add asset bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5

Browse files
.gitattributes CHANGED
@@ -5689,3 +5689,4 @@ dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/afforda
5689
  dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5690
  dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5691
  dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5689
  dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5690
  dataset/bathroom_supplies/bath_products/ce1196d604e858818f587cdd464a0ad6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5691
  dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5692
+ dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,716 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the narrow middle of the bottle body to pick up and move the bottle",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body to stabilize it while opening or closing the top",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the bottle body to squeeze and dispense the liquid contents",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid product",
23
+ "main grasp surface",
24
+ "support squeezing for dispensing",
25
+ "support bottle structure",
26
+ "stabilize during top manipulation"
27
+ ],
28
+ "semantic_description": "Large curvy purple plastic bottle body with a smooth glossy surface, hourglass-shaped with a narrow waist and broader upper shoulder and lower base, forming most of the object.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9315981268882751,
33
+ "position": [
34
+ -0.01067951082950458,
35
+ -0.10914858087198809,
36
+ -0.015906833577901125
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7091849136442921,
40
+ "xyz": [
41
+ -0.7033215739594508,
42
+ 0.033087592022928325,
43
+ -0.03606567782065108
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9274162650108337,
49
+ "position": [
50
+ 0.01782846130663529,
51
+ -0.1091287027229555,
52
+ -0.012109449598938227
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7071195250950721,
56
+ "xyz": [
57
+ -0.7021655581334187,
58
+ -0.06557211909417071,
59
+ 0.051437373552739904
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9259333610534668,
65
+ "position": [
66
+ 0.10698800213867798,
67
+ -0.02807913749711588,
68
+ -0.017885262612253428
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5529487999755621,
72
+ "xyz": [
73
+ -0.5568103870980904,
74
+ -0.4343964021601091,
75
+ 0.4421646562261766
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9253943562507629,
81
+ "position": [
82
+ -0.10950683377450332,
83
+ -0.03397581755416468,
84
+ -0.0030904035083949566
85
+ ],
86
+ "orientation": {
87
+ "w": 0.43276008094791296,
88
+ "xyz": [
89
+ 0.41610907592105667,
90
+ 0.5661730749139711,
91
+ 0.5648185536227892
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9224585890769958,
97
+ "position": [
98
+ 0.01883963734144345,
99
+ -0.10631087824003771,
100
+ -0.008212617132812738
101
+ ],
102
+ "orientation": {
103
+ "w": 0.6989545172889081,
104
+ "xyz": [
105
+ -0.7094566429805215,
106
+ -0.06189144794700374,
107
+ 0.06559956679172
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9222166538238525,
113
+ "position": [
114
+ -0.051269743067678064,
115
+ -0.0977955128182657,
116
+ -0.0138155915774405
117
+ ],
118
+ "orientation": {
119
+ "w": 0.18591166133268375,
120
+ "xyz": [
121
+ 0.17859496803886854,
122
+ 0.6889405949222882,
123
+ 0.6774227249213312
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9217680096626282,
129
+ "position": [
130
+ 0.008526307123247534,
131
+ -0.1124829541076906,
132
+ -0.01727161416783929
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7064061957232005,
136
+ "xyz": [
137
+ -0.7067534917652932,
138
+ -0.03163232970004104,
139
+ 0.0221175097872554
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9198048114776611,
145
+ "position": [
146
+ -0.10273137263720855,
147
+ -0.04322931572096422,
148
+ -0.018871061969548464
149
+ ],
150
+ "orientation": {
151
+ "w": 0.582886677533674,
152
+ "xyz": [
153
+ -0.5820129445813138,
154
+ 0.40414681511048944,
155
+ -0.3977051738783288
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9195687770843506,
161
+ "position": [
162
+ 0.05271795071894303,
163
+ -0.10089363559382036,
164
+ -0.024965957272797823
165
+ ],
166
+ "orientation": {
167
+ "w": 0.17078027448875008,
168
+ "xyz": [
169
+ 0.17026495030861558,
170
+ -0.6814956033093076,
171
+ -0.6909469496365368
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9180368781089783,
177
+ "position": [
178
+ 0.10269958950811997,
179
+ 0.030026608787011355,
180
+ -0.025986686814576387
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4250371601892615,
184
+ "xyz": [
185
+ -0.4132370939242988,
186
+ -0.5679012502342914,
187
+ 0.5710224922413971
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9173985719680786,
193
+ "position": [
194
+ -0.10690276644891128,
195
+ -0.01134678564267233,
196
+ -0.010181921068578959
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5291937302187244,
200
+ "xyz": [
201
+ -0.5063303251930021,
202
+ 0.48024176677413166,
203
+ -0.48265043575324845
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9171884059906006,
209
+ "position": [
210
+ -0.022789820504840463,
211
+ -0.11235332145588472,
212
+ -0.02025145897641778
213
+ ],
214
+ "orientation": {
215
+ "w": 0.7089702695211274,
216
+ "xyz": [
217
+ -0.6966073676754407,
218
+ 0.08216199773514166,
219
+ -0.07313506931427599
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9163909554481506,
225
+ "position": [
226
+ 0.095991451817099,
227
+ -0.05027800454990938,
228
+ -0.021639463026076555
229
+ ],
230
+ "orientation": {
231
+ "w": 0.6014880350186298,
232
+ "xyz": [
233
+ -0.5964505602999787,
234
+ -0.37300240974057486,
235
+ 0.3785869453309159
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9154636859893799,
241
+ "position": [
242
+ 0.04185243748361245,
243
+ -0.10460250481264666,
244
+ -0.010956615675240755
245
+ ],
246
+ "orientation": {
247
+ "w": 0.6979332875596927,
248
+ "xyz": [
249
+ -0.6900596167258837,
250
+ -0.13615083997642974,
251
+ 0.1347954014570191
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9147493243217468,
257
+ "position": [
258
+ 0.10044601239496842,
259
+ 0.02996454358799383,
260
+ -0.021688940469175577
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4286896452562676,
264
+ "xyz": [
265
+ -0.41368760098071455,
266
+ -0.5707479055109291,
267
+ 0.5650969697315357
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9144925475120544,
273
+ "position": [
274
+ 0.012414191442076117,
275
+ -0.10703254892723635,
276
+ -0.02176573546603322
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7076960349248888,
280
+ "xyz": [
281
+ -0.7033866307924769,
282
+ -0.058344866121446404,
283
+ 0.03177178577399397
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9144190549850464,
289
+ "position": [
290
+ -0.03993772662943229,
291
+ -0.10041793837444857,
292
+ -0.010241533163934946
293
+ ],
294
+ "orientation": {
295
+ "w": 0.14149036932915388,
296
+ "xyz": [
297
+ 0.14332117028511435,
298
+ 0.695866482344373,
299
+ 0.6893543038850726
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.913533091545105,
305
+ "position": [
306
+ 0.05658718623453751,
307
+ 0.09118778601987287,
308
+ -0.018365342635661364
309
+ ],
310
+ "orientation": {
311
+ "w": 0.20007054732626953,
312
+ "xyz": [
313
+ -0.18579910034654112,
314
+ -0.6722636517503048,
315
+ 0.6881221206576112
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9128813147544861,
321
+ "position": [
322
+ 0.1016125050955452,
323
+ 0.02889471285743639,
324
+ -0.010124180931597948
325
+ ],
326
+ "orientation": {
327
+ "w": 0.567544672182003,
328
+ "xyz": [
329
+ 0.5617083051003937,
330
+ -0.4271104174736058,
331
+ -0.4242092836614816
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9114429950714111,
337
+ "position": [
338
+ -0.1095151262707077,
339
+ -0.0057219130103476346,
340
+ -0.0005185850895941257
341
+ ],
342
+ "orientation": {
343
+ "w": 0.509186003407618,
344
+ "xyz": [
345
+ -0.5016607697952892,
346
+ 0.4866937667176253,
347
+ -0.5021904652822315
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "front label",
355
+ "mask_color": "Blue",
356
+ "graspable": false,
357
+ "grasp_scenarios": [],
358
+ "functional_labels": [
359
+ "display product branding",
360
+ "provide product information",
361
+ "identify front orientation",
362
+ "decorate the bottle"
363
+ ],
364
+ "semantic_description": "Small white rectangular front label on the midsection of the bottle, printed with a purple floral graphic and text, appearing as a smooth glossy adhered label.",
365
+ "id": 2,
366
+ "grasp_group": {}
367
+ },
368
+ {
369
+ "part_name": "neck ring",
370
+ "mask_color": "Cyan",
371
+ "graspable": false,
372
+ "grasp_scenarios": [],
373
+ "functional_labels": [
374
+ "transition between body and cap",
375
+ "define cap boundary",
376
+ "support top assembly"
377
+ ],
378
+ "semantic_description": "Thin light-purple circular ring between the bottle shoulder and the cap, with a smooth glossy plastic finish.",
379
+ "id": 6,
380
+ "grasp_group": {}
381
+ },
382
+ {
383
+ "part_name": "cap",
384
+ "mask_color": "Yellow",
385
+ "graspable": true,
386
+ "grasp_scenarios": [
387
+ {
388
+ "scenario": "grasp the cap to twist or pull it for opening",
389
+ "confidence": 0.78
390
+ },
391
+ {
392
+ "scenario": "grasp the cap to reclose the bottle after dispensing",
393
+ "confidence": 0.75
394
+ },
395
+ {
396
+ "scenario": "hold the cap lightly to orient the bottle top",
397
+ "confidence": 0.48
398
+ }
399
+ ],
400
+ "functional_labels": [
401
+ "cover the dispenser opening",
402
+ "enable opening and closing",
403
+ "seal the contents",
404
+ "provide a manipulation point at the top"
405
+ ],
406
+ "semantic_description": "Medium-sized purple plastic cap around the top of the bottle, cylindrical with vertical ridges and a glossy finish.",
407
+ "id": 3,
408
+ "grasp_group": {
409
+ "grasp_20": {
410
+ "confidence": 0.9487394094467163,
411
+ "position": [
412
+ 0.09241356380516663,
413
+ -0.04959119140403345,
414
+ 0.09931596694514155
415
+ ],
416
+ "orientation": {
417
+ "w": 0.5892353855849704,
418
+ "xyz": [
419
+ -0.628135603807335,
420
+ -0.35877223153643767,
421
+ 0.3599024999669919
422
+ ]
423
+ }
424
+ },
425
+ "grasp_21": {
426
+ "confidence": 0.9396070837974548,
427
+ "position": [
428
+ 0.09121802874142304,
429
+ -0.050795756571460515,
430
+ 0.09972112951800227
431
+ ],
432
+ "orientation": {
433
+ "w": 0.5789441550705853,
434
+ "xyz": [
435
+ -0.6399147289545652,
436
+ -0.35434800608109285,
437
+ 0.36023644396835397
438
+ ]
439
+ }
440
+ },
441
+ "grasp_22": {
442
+ "confidence": 0.9302403330802917,
443
+ "position": [
444
+ 0.061047588067594916,
445
+ 0.08438071951968595,
446
+ 0.10214518336579204
447
+ ],
448
+ "orientation": {
449
+ "w": 0.22352640141674276,
450
+ "xyz": [
451
+ -0.22220595074592978,
452
+ -0.6958659076170874,
453
+ 0.6453147309174223
454
+ ]
455
+ }
456
+ },
457
+ "grasp_23": {
458
+ "confidence": 0.9266437292098999,
459
+ "position": [
460
+ -0.043099358153995126,
461
+ 0.09874862030846998,
462
+ 0.09182636020705104
463
+ ],
464
+ "orientation": {
465
+ "w": 0.1498787582318611,
466
+ "xyz": [
467
+ -0.14478114180900722,
468
+ 0.6891185216008077,
469
+ -0.6940392222303238
470
+ ]
471
+ }
472
+ },
473
+ "grasp_24": {
474
+ "confidence": 0.9257463812828064,
475
+ "position": [
476
+ 0.10291345097357407,
477
+ 0.019247734628152102,
478
+ 0.0967284101061523
479
+ ],
480
+ "orientation": {
481
+ "w": 0.5283049730974951,
482
+ "xyz": [
483
+ 0.5573796272929393,
484
+ -0.44219731352539915,
485
+ -0.46333933827181
486
+ ]
487
+ }
488
+ },
489
+ "grasp_25": {
490
+ "confidence": 0.9246733784675598,
491
+ "position": [
492
+ 0.08985932596260682,
493
+ -0.04727796121733263,
494
+ 0.10141106275841594
495
+ ],
496
+ "orientation": {
497
+ "w": 0.5713817861808492,
498
+ "xyz": [
499
+ -0.6423679112727761,
500
+ -0.3430637651188313,
501
+ 0.37840926792340085
502
+ ]
503
+ }
504
+ },
505
+ "grasp_26": {
506
+ "confidence": 0.922694742679596,
507
+ "position": [
508
+ 0.09820817090803757,
509
+ -0.03428826137678698,
510
+ 0.09433441190049052
511
+ ],
512
+ "orientation": {
513
+ "w": 0.3897174645321645,
514
+ "xyz": [
515
+ 0.42460972706836825,
516
+ -0.5802354129275501,
517
+ -0.5754595929362397
518
+ ]
519
+ }
520
+ },
521
+ "grasp_27": {
522
+ "confidence": 0.9214277267456055,
523
+ "position": [
524
+ 0.09485308505827561,
525
+ -0.04086294799344614,
526
+ 0.09498811094090343
527
+ ],
528
+ "orientation": {
529
+ "w": 0.3789085435991066,
530
+ "xyz": [
531
+ 0.3957325452710109,
532
+ -0.5940039437147884,
533
+ -0.5890529543701565
534
+ ]
535
+ }
536
+ },
537
+ "grasp_28": {
538
+ "confidence": 0.9202738404273987,
539
+ "position": [
540
+ 0.09924348123604432,
541
+ -0.0035932392929680645,
542
+ 0.1064923438243568
543
+ ],
544
+ "orientation": {
545
+ "w": 0.4439221201099076,
546
+ "xyz": [
547
+ 0.5342393413818551,
548
+ -0.5346148568210853,
549
+ -0.48136102071436737
550
+ ]
551
+ }
552
+ },
553
+ "grasp_29": {
554
+ "confidence": 0.9163783192634583,
555
+ "position": [
556
+ 0.10277100332314149,
557
+ 0.009481934539508075,
558
+ 0.09822769043967128
559
+ ],
560
+ "orientation": {
561
+ "w": 0.5167289720511505,
562
+ "xyz": [
563
+ 0.5283889842730659,
564
+ -0.4779856457722007,
565
+ -0.47468513056295636
566
+ ]
567
+ }
568
+ },
569
+ "grasp_32": {
570
+ "confidence": 0.9114952087402344,
571
+ "position": [
572
+ 0.05535158567363396,
573
+ -0.08787384285824373,
574
+ 0.10324175981804729
575
+ ],
576
+ "orientation": {
577
+ "w": 0.19424623657165627,
578
+ "xyz": [
579
+ 0.20041817664608305,
580
+ -0.7051974669904315,
581
+ -0.6517649013240022
582
+ ]
583
+ }
584
+ },
585
+ "grasp_33": {
586
+ "confidence": 0.9070212841033936,
587
+ "position": [
588
+ -0.01823641121154651,
589
+ 0.1022556682000868,
590
+ 0.10980367241427302
591
+ ],
592
+ "orientation": {
593
+ "w": 0.05836143612702319,
594
+ "xyz": [
595
+ -0.068805469763199,
596
+ 0.7383742730449137,
597
+ -0.6683286489514361
598
+ ]
599
+ }
600
+ },
601
+ "grasp_34": {
602
+ "confidence": 0.9064074754714966,
603
+ "position": [
604
+ 0.04411422513658181,
605
+ 0.07771748647792265,
606
+ 0.1503608557395637
607
+ ],
608
+ "orientation": {
609
+ "w": 0.1322131953417732,
610
+ "xyz": [
611
+ -0.23930288959871204,
612
+ -0.83844841938913,
613
+ 0.4714425161470855
614
+ ]
615
+ }
616
+ },
617
+ "grasp_36": {
618
+ "confidence": 0.9032732248306274,
619
+ "position": [
620
+ 0.03792896919185296,
621
+ 0.1008642126689665,
622
+ 0.08984966157004237
623
+ ],
624
+ "orientation": {
625
+ "w": 0.7048909851563444,
626
+ "xyz": [
627
+ 0.6830482544312321,
628
+ -0.13174093943533127,
629
+ -0.13862938375561507
630
+ ]
631
+ }
632
+ },
633
+ "grasp_37": {
634
+ "confidence": 0.9030985832214355,
635
+ "position": [
636
+ 0.055917803721968085,
637
+ 0.08490492001874372,
638
+ 0.0949513572268188
639
+ ],
640
+ "orientation": {
641
+ "w": 0.209035219154516,
642
+ "xyz": [
643
+ -0.20949228457889432,
644
+ -0.6769977263208002,
645
+ 0.6738629967667064
646
+ ]
647
+ }
648
+ },
649
+ "grasp_38": {
650
+ "confidence": 0.9027870893478394,
651
+ "position": [
652
+ 0.0287468308233656,
653
+ -0.0893397296895273,
654
+ 0.15344284800812602
655
+ ],
656
+ "orientation": {
657
+ "w": 0.49588691172369115,
658
+ "xyz": [
659
+ -0.8566969061575355,
660
+ -0.11471818460917327,
661
+ 0.0837037626467462
662
+ ]
663
+ }
664
+ },
665
+ "grasp_39": {
666
+ "confidence": 0.9025545120239258,
667
+ "position": [
668
+ -0.10427832178538665,
669
+ 0.01342361856950447,
670
+ 0.11943364469334483
671
+ ],
672
+ "orientation": {
673
+ "w": 0.4194628652126664,
674
+ "xyz": [
675
+ -0.516425837329689,
676
+ 0.5820942408743789,
677
+ -0.46746289049163037
678
+ ]
679
+ }
680
+ }
681
+ }
682
+ },
683
+ {
684
+ "part_name": "dispenser tip",
685
+ "mask_color": "Green",
686
+ "graspable": false,
687
+ "grasp_scenarios": [],
688
+ "functional_labels": [
689
+ "dispense liquid",
690
+ "direct liquid flow",
691
+ "form the outlet opening"
692
+ ],
693
+ "semantic_description": "Small clear to translucent dispenser tip at the very top, faceted and glossy, serving as the outlet/nozzle area.",
694
+ "id": 1,
695
+ "grasp_group": {}
696
+ },
697
+ {
698
+ "part_name": "base",
699
+ "mask_color": "Purple",
700
+ "graspable": false,
701
+ "grasp_scenarios": [],
702
+ "functional_labels": [
703
+ "support upright standing",
704
+ "provide bottom stability",
705
+ "contact resting surface"
706
+ ],
707
+ "semantic_description": "Flat oval bottom surface at the underside of the bottle, appearing white or very light in color with a smooth finish and purple printed markings.",
708
+ "id": 5,
709
+ "grasp_group": {}
710
+ }
711
+ ],
712
+ "quality_check": {
713
+ "success": true,
714
+ "message": "YES"
715
+ }
716
+ }
dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:676a95ee469f6172e540aea0dd1bca236dc714b6386515a75f4833c48e75c036
3
+ size 3775900