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
1f5dd9d
·
verified ·
1 Parent(s): 710f041

Add asset bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/affordance_annot.json +708 -0
  3. dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -7955,4 +7955,4 @@ dataset/tools/repair_tools/fc9400e7c8a65e7ea74848ca0ab9c5b1/affordance/mesh_part
7955
  dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7956
  dataset/tools/repair_tools/ffa71c9ed2f6563a9adfc86c49fce2fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7957
  dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7958
- dataset/bathroom_supplies/personal_care/55069ad552b05bafb454ac0677b938ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7955
  dataset/tools/repair_tools/fde554ef987854e89cb10c834974d6cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7956
  dataset/tools/repair_tools/ffa71c9ed2f6563a9adfc86c49fce2fc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7957
  dataset/tools/repair_tools/ffbf1d9a6a7b5195b54582ab536feab0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7958
+ dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/affordance_annot.json ADDED
@@ -0,0 +1,708 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the middle of the tube body to pick up and move the toothpaste",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "squeeze and hold the tube body to dispense toothpaste toward the opening",
14
+ "confidence": 0.86
15
+ },
16
+ {
17
+ "scenario": "stabilize the tube by grasping the body while twisting the cap",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain toothpaste",
23
+ "main grasp surface",
24
+ "deform to help dispense contents",
25
+ "support printed product labeling"
26
+ ],
27
+ "semantic_description": "Large tapered white plastic tube body with a smooth slightly glossy surface, soft squeezable feel, red printed branding and text on the front, forming the main central section above the cap.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.991538941860199,
32
+ "position": [
33
+ -0.10087762214243412,
34
+ 0.003947913879528642,
35
+ -0.026162258465774357
36
+ ],
37
+ "orientation": {
38
+ "w": 0.49140582765825336,
39
+ "xyz": [
40
+ -0.4843205455749102,
41
+ 0.5151426249498908,
42
+ -0.5085095846070796
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9908373355865479,
48
+ "position": [
49
+ -0.1010571587830782,
50
+ -0.0002863857662305236,
51
+ -0.020149481599219143
52
+ ],
53
+ "orientation": {
54
+ "w": 0.505228737969193,
55
+ "xyz": [
56
+ -0.48895593684211636,
57
+ 0.508141247333261,
58
+ -0.4974519945839024
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9904997944831848,
64
+ "position": [
65
+ -0.09967661835253239,
66
+ 0.015069898683577776,
67
+ -0.026543491636402905
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5582102331756003,
71
+ "xyz": [
72
+ 0.5248558178766723,
73
+ 0.4579335064613965,
74
+ 0.4508044029055413
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9901040196418762,
80
+ "position": [
81
+ -0.1000166554003954,
82
+ 0.024472914170473814,
83
+ -0.017261103843338788
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5682258465947717,
87
+ "xyz": [
88
+ 0.5483294340180762,
89
+ 0.44823570538185686,
90
+ 0.4189737121489848
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.989903450012207,
96
+ "position": [
97
+ -0.09740014560520649,
98
+ 0.027029249351471663,
99
+ -0.027541752089746296
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5885711287064892,
103
+ "xyz": [
104
+ 0.540075953031351,
105
+ 0.42437410290127586,
106
+ 0.42639021118827813
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9896557331085205,
112
+ "position": [
113
+ -0.10165316797792912,
114
+ -0.009675993118435144,
115
+ -0.009529680130071938
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5143183117756709,
119
+ "xyz": [
120
+ -0.5270712482509418,
121
+ 0.4896358620589857,
122
+ -0.4668289794187713
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9887364506721497,
128
+ "position": [
129
+ -0.08128165639936924,
130
+ 0.056725369300693274,
131
+ -0.032661416684277356
132
+ ],
133
+ "orientation": {
134
+ "w": 0.3310270900879501,
135
+ "xyz": [
136
+ -0.32296000628586796,
137
+ 0.6022380869513123,
138
+ -0.6507128295899508
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9887047410011292,
144
+ "position": [
145
+ -0.09814285673201084,
146
+ -0.03110244357958436,
147
+ -0.01625803776551038
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5761713510248512,
151
+ "xyz": [
152
+ -0.5530353730039285,
153
+ 0.4292182612949901,
154
+ -0.42184136193065386
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9883861541748047,
160
+ "position": [
161
+ -0.10188264586031437,
162
+ -0.006721349898725748,
163
+ -0.006119181984104216
164
+ ],
165
+ "orientation": {
166
+ "w": 0.506371566304151,
167
+ "xyz": [
168
+ -0.5188134011743636,
169
+ 0.4968127946002293,
170
+ -0.477071838114639
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9882642030715942,
176
+ "position": [
177
+ -0.0980979222804308,
178
+ 0.015327935572713614,
179
+ -0.033405949478037655
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4657894711973145,
183
+ "xyz": [
184
+ -0.44778778003202324,
185
+ 0.532755460664212,
186
+ -0.5465326080923091
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9877990484237671,
192
+ "position": [
193
+ -0.09817902185022831,
194
+ -0.02723378548398614,
195
+ -0.009137975168414414
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5568148391032128,
199
+ "xyz": [
200
+ -0.5640184671925782,
201
+ 0.44143087579255935,
202
+ -0.4206889415199929
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9876406788825989,
208
+ "position": [
209
+ -0.09929812885820866,
210
+ -0.0038695409893989563,
211
+ -0.02194549993146211
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5094007065411869,
215
+ "xyz": [
216
+ 0.4890085204306416,
217
+ 0.5032828131081639,
218
+ 0.49808432734980423
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9875634908676147,
224
+ "position": [
225
+ -0.08647067286074162,
226
+ 0.0485272235237062,
227
+ -0.018229072098620236
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6123366044481786,
231
+ "xyz": [
232
+ 0.615172767805136,
233
+ 0.3824485688567413,
234
+ 0.31676401434391654
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.987425684928894,
240
+ "position": [
241
+ -0.10203260369598866,
242
+ 0.0037556912284344435,
243
+ -0.034874913399107754
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5253102137202149,
247
+ "xyz": [
248
+ 0.5018858309606157,
249
+ 0.48789098695749245,
250
+ 0.48386173323361564
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9872521162033081,
256
+ "position": [
257
+ -0.1044562254101038,
258
+ -0.00011253799311816692,
259
+ -0.04727429628837854
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5177533317624609,
263
+ "xyz": [
264
+ 0.48044882556964474,
265
+ 0.49098452365916334,
266
+ 0.5099358890927408
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9871930480003357,
272
+ "position": [
273
+ -0.10620489157736301,
274
+ -0.006006135139614344,
275
+ -0.04220398247707635
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5072360499396309,
279
+ "xyz": [
280
+ 0.477654555666676,
281
+ 0.5009696265103526,
282
+ 0.513407390292142
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9869884252548218,
288
+ "position": [
289
+ -0.10097295232117176,
290
+ 0.005652497988194227,
291
+ -0.0314541655825451
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5267291042197696,
295
+ "xyz": [
296
+ 0.5132004104452861,
297
+ 0.4890360494323216,
298
+ 0.46906879222802417
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9869695901870728,
304
+ "position": [
305
+ -0.10119847394526005,
306
+ -0.007018018048256636,
307
+ -0.039905835990794
308
+ ],
309
+ "orientation": {
310
+ "w": 0.5198185451555828,
311
+ "xyz": [
312
+ -0.5106843076290526,
313
+ 0.48353483381503115,
314
+ -0.48495802142168815
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9864901304244995,
320
+ "position": [
321
+ -0.10126356221735477,
322
+ 0.011936846654862165,
323
+ -0.04409006342757493
324
+ ],
325
+ "orientation": {
326
+ "w": 0.48034621030217217,
327
+ "xyz": [
328
+ -0.4547915737465838,
329
+ 0.519144350426237,
330
+ -0.5412220303331777
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9862416982650757,
336
+ "position": [
337
+ -0.08656023629009724,
338
+ 0.044257914181798697,
339
+ -0.029141332139261067
340
+ ],
341
+ "orientation": {
342
+ "w": 0.3797241402336086,
343
+ "xyz": [
344
+ -0.37301021708051574,
345
+ 0.5906695068045843,
346
+ -0.6064507308995699
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "cap ring",
354
+ "mask_color": "Yellow",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the neck ring area to stabilize the tube while opening or closing the cap",
359
+ "confidence": 0.54
360
+ },
361
+ {
362
+ "scenario": "hold near the base ring for short repositioning of the tube",
363
+ "confidence": 0.42
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "connect body to cap",
368
+ "provide cap seating surface",
369
+ "stabilize closure area",
370
+ "indicate transition to base"
371
+ ],
372
+ "semantic_description": "Narrow white plastic ring at the lower neck of the tube with a smooth slightly glossy hard surface, encircling the body just above the main cap.",
373
+ "id": 3,
374
+ "grasp_group": {
375
+ "grasp_20": {
376
+ "confidence": 0.983669102191925,
377
+ "position": [
378
+ -0.10192386247217655,
379
+ 0.0030796125065535307,
380
+ -0.06446967006195337
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5101114430869489,
384
+ "xyz": [
385
+ -0.47776945545777144,
386
+ 0.48945061005391066,
387
+ -0.5214985746684165
388
+ ]
389
+ }
390
+ },
391
+ "grasp_21": {
392
+ "confidence": 0.9829921126365662,
393
+ "position": [
394
+ -0.10201373882591724,
395
+ -0.005682459566742182,
396
+ -0.05545948550570756
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5182735040242211,
400
+ "xyz": [
401
+ -0.5074425878861697,
402
+ 0.4766900943626543,
403
+ -0.4966499259663349
404
+ ]
405
+ }
406
+ },
407
+ "grasp_22": {
408
+ "confidence": 0.9818000793457031,
409
+ "position": [
410
+ -0.10449186153709888,
411
+ -0.00879319990053773,
412
+ -0.06241386861074716
413
+ ],
414
+ "orientation": {
415
+ "w": 0.4887393952383972,
416
+ "xyz": [
417
+ 0.4677212246567723,
418
+ 0.5167245568788209,
419
+ 0.5247536487400168
420
+ ]
421
+ }
422
+ },
423
+ "grasp_23": {
424
+ "confidence": 0.9808252453804016,
425
+ "position": [
426
+ -0.10465906746685505,
427
+ 0.0013261001731734723,
428
+ -0.05744453624356538
429
+ ],
430
+ "orientation": {
431
+ "w": 0.5318253772914193,
432
+ "xyz": [
433
+ 0.4871493172846446,
434
+ 0.4865225440484787,
435
+ 0.4930954520886805
436
+ ]
437
+ }
438
+ },
439
+ "grasp_24": {
440
+ "confidence": 0.9806884527206421,
441
+ "position": [
442
+ 0.0979320090264082,
443
+ -0.0002069034380838275,
444
+ -0.05951568216551095
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5244738160372658,
448
+ "xyz": [
449
+ -0.47292100190367603,
450
+ -0.4718909513234413,
451
+ 0.5278180295412322
452
+ ]
453
+ }
454
+ },
455
+ "grasp_25": {
456
+ "confidence": 0.97977614402771,
457
+ "position": [
458
+ 0.09747125767171383,
459
+ -0.003607544582337141,
460
+ -0.06200287223327905
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5291766945879435,
464
+ "xyz": [
465
+ -0.48562752076981786,
466
+ -0.4602138726077941,
467
+ 0.5218631318988493
468
+ ]
469
+ }
470
+ },
471
+ "grasp_26": {
472
+ "confidence": 0.9796730279922485,
473
+ "position": [
474
+ -0.10384962894022465,
475
+ -0.001068562502041459,
476
+ -0.07887065887916833
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5509666363752729,
480
+ "xyz": [
481
+ 0.45516806262474757,
482
+ 0.44924485608845677,
483
+ 0.5361313828212382
484
+ ]
485
+ }
486
+ },
487
+ "grasp_27": {
488
+ "confidence": 0.9794345498085022,
489
+ "position": [
490
+ 0.09663216583430767,
491
+ 0.0035457469057291746,
492
+ -0.060196095262654126
493
+ ],
494
+ "orientation": {
495
+ "w": 0.5045378108590379,
496
+ "xyz": [
497
+ -0.4646749877585392,
498
+ -0.4817240798368614,
499
+ 0.5453995453523042
500
+ ]
501
+ }
502
+ },
503
+ "grasp_28": {
504
+ "confidence": 0.9792207479476929,
505
+ "position": [
506
+ -0.0015313226613216102,
507
+ -0.10386898973956704,
508
+ -0.053378881071694195
509
+ ],
510
+ "orientation": {
511
+ "w": 0.7171446459991586,
512
+ "xyz": [
513
+ -0.6968063849701254,
514
+ -0.0029913742546716637,
515
+ -0.012468771377934224
516
+ ]
517
+ }
518
+ },
519
+ "grasp_29": {
520
+ "confidence": 0.9787238836288452,
521
+ "position": [
522
+ 0.026503395289182663,
523
+ -0.09989384422078729,
524
+ -0.05164682224858552
525
+ ],
526
+ "orientation": {
527
+ "w": 0.0878227156348967,
528
+ "xyz": [
529
+ 0.09715981944453762,
530
+ -0.6911800956399148,
531
+ -0.7107159879271152
532
+ ]
533
+ }
534
+ },
535
+ "grasp_31": {
536
+ "confidence": 0.9781001210212708,
537
+ "position": [
538
+ 0.10088095627725124,
539
+ 0.0004086546250618994,
540
+ -0.05078577727545053
541
+ ],
542
+ "orientation": {
543
+ "w": 0.4963849018527067,
544
+ "xyz": [
545
+ 0.48949142625323205,
546
+ -0.4999848065889184,
547
+ -0.5138242559645245
548
+ ]
549
+ }
550
+ },
551
+ "grasp_32": {
552
+ "confidence": 0.9774322509765625,
553
+ "position": [
554
+ -0.09897864051163197,
555
+ 0.003129073651507497,
556
+ -0.07014466554392129
557
+ ],
558
+ "orientation": {
559
+ "w": 0.5226914062269011,
560
+ "xyz": [
561
+ -0.45974538284993144,
562
+ 0.4688810685338132,
563
+ -0.5436712429173568
564
+ ]
565
+ }
566
+ },
567
+ "grasp_36": {
568
+ "confidence": 0.9761583209037781,
569
+ "position": [
570
+ 0.09815643541514874,
571
+ 0.001685450493823737,
572
+ -0.06425501883495599
573
+ ],
574
+ "orientation": {
575
+ "w": 0.5107663500461536,
576
+ "xyz": [
577
+ -0.46772846210611047,
578
+ -0.47496020341897205,
579
+ 0.5429186187308291
580
+ ]
581
+ }
582
+ },
583
+ "grasp_37": {
584
+ "confidence": 0.975883424282074,
585
+ "position": [
586
+ -0.09839201159775257,
587
+ -0.028885819483548403,
588
+ -0.056587007944472134
589
+ ],
590
+ "orientation": {
591
+ "w": 0.5641076816322244,
592
+ "xyz": [
593
+ -0.5594375943403869,
594
+ 0.4222262040533239,
595
+ -0.4365055946638928
596
+ ]
597
+ }
598
+ },
599
+ "grasp_38": {
600
+ "confidence": 0.9758273363113403,
601
+ "position": [
602
+ -0.10070854611694813,
603
+ -0.0031005716882646084,
604
+ -0.07468235970009118
605
+ ],
606
+ "orientation": {
607
+ "w": 0.5578927428725029,
608
+ "xyz": [
609
+ 0.43171091585916704,
610
+ 0.4392517213070285,
611
+ 0.5562726830494613
612
+ ]
613
+ }
614
+ },
615
+ "grasp_39": {
616
+ "confidence": 0.9757108688354492,
617
+ "position": [
618
+ 0.10074146650731564,
619
+ -0.010890642646700144,
620
+ -0.05486061156261712
621
+ ],
622
+ "orientation": {
623
+ "w": 0.47915570935020974,
624
+ "xyz": [
625
+ 0.46098636975197527,
626
+ -0.5230230193154983,
627
+ -0.533243185016079
628
+ ]
629
+ }
630
+ }
631
+ }
632
+ },
633
+ {
634
+ "part_name": "cap",
635
+ "mask_color": "Orange",
636
+ "graspable": true,
637
+ "grasp_scenarios": [
638
+ {
639
+ "scenario": "grasp the cap to twist it open or closed",
640
+ "confidence": 0.88
641
+ },
642
+ {
643
+ "scenario": "grasp the cap to stand, orient, or reposition the tube from the bottom end",
644
+ "confidence": 0.71
645
+ }
646
+ ],
647
+ "functional_labels": [
648
+ "cover dispensing opening",
649
+ "seal contents",
650
+ "enable opening and closing",
651
+ "support standing on end"
652
+ ],
653
+ "semantic_description": "Round white plastic screw cap with a smooth glossy hard surface, wider than the tube neck and located at the bottom end, forming the flat base when the tube stands upright.",
654
+ "id": 4,
655
+ "grasp_group": {
656
+ "grasp_44": {
657
+ "confidence": 0.9376449584960938,
658
+ "position": [
659
+ -0.002086128224618733,
660
+ 0.10391897847875953,
661
+ -0.07508781284559518
662
+ ],
663
+ "orientation": {
664
+ "w": 0.04323893962488216,
665
+ "xyz": [
666
+ 0.003254317443881915,
667
+ 0.6758588859731615,
668
+ -0.7357544221880067
669
+ ]
670
+ }
671
+ }
672
+ }
673
+ },
674
+ {
675
+ "part_name": "sealed crimp edge",
676
+ "mask_color": "Pink",
677
+ "graspable": false,
678
+ "grasp_scenarios": [],
679
+ "functional_labels": [
680
+ "seal tube end",
681
+ "retain contents",
682
+ "indicate top boundary",
683
+ "provide manufacturing closure"
684
+ ],
685
+ "semantic_description": "Thin flattened white crimped plastic seam along the top edge with a matte-to-satin hard finish and slightly ribbed texture from heat sealing.",
686
+ "id": 8,
687
+ "grasp_group": {}
688
+ },
689
+ {
690
+ "part_name": "front label panel",
691
+ "mask_color": "Magenta",
692
+ "graspable": false,
693
+ "grasp_scenarios": [],
694
+ "functional_labels": [
695
+ "display branding",
696
+ "show product information",
697
+ "indicate front orientation"
698
+ ],
699
+ "semantic_description": "Small red printed label area on the front of the white tube, smooth and glossy with bold white and red characters, positioned centrally on the main body.",
700
+ "id": 7,
701
+ "grasp_group": {}
702
+ }
703
+ ],
704
+ "quality_check": {
705
+ "success": true,
706
+ "message": "YES"
707
+ }
708
+ }
dataset/bathroom_supplies/personal_care/5525e06d369551afbf7770c55d097d45/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f8767791a1c582c35b2f0a71c96d315efcf2fa7c7802134096b6c7bca49b8e7
3
+ size 3786176