xinjjj commited on
Commit
29665c8
·
verified ·
1 Parent(s): 668c570

Add asset bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995

Browse files
.gitattributes CHANGED
@@ -5677,3 +5677,4 @@ dataset/bathroom_supplies/bath_products/bd30495877a057938db044fc2a04b87f/afforda
5677
  dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5678
  dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5679
  dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5677
  dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5678
  dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5679
  dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5680
+ dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/affordance/affordance_annot.json ADDED
@@ -0,0 +1,675 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the tube body at the middle to pick up and move the facial cleanser",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "squeeze and hold the tube body to dispense cleanser through the opening",
14
+ "confidence": 0.87
15
+ },
16
+ {
17
+ "scenario": "grasp the upper body to stabilize the tube while opening or closing the cap",
18
+ "confidence": 0.84
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain cleanser",
23
+ "main grasp surface",
24
+ "squeeze to dispense contents",
25
+ "support printed label",
26
+ "connect cap to package body"
27
+ ],
28
+ "semantic_description": "Large tapered dark navy-to-silver plastic tube body with a glossy smooth surface, slightly flexible feel, ribbed sealed top edge, and printed white brand text on the front.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9897638559341431,
33
+ "position": [
34
+ -0.006611526943743229,
35
+ 0.10275386070134118,
36
+ -0.016796004958450794
37
+ ],
38
+ "orientation": {
39
+ "w": 0.05119249971846556,
40
+ "xyz": [
41
+ -0.01544472024611135,
42
+ 0.6786054887811873,
43
+ -0.7325540111043961
44
+ ]
45
+ }
46
+ },
47
+ "grasp_21": {
48
+ "confidence": 0.9889737367630005,
49
+ "position": [
50
+ -0.0015081610763445497,
51
+ 0.10403250699164346,
52
+ -0.006921702064573765
53
+ ],
54
+ "orientation": {
55
+ "w": 0.03258398547942681,
56
+ "xyz": [
57
+ -0.0038692690486583454,
58
+ 0.707121314997265,
59
+ -0.7063304881738047
60
+ ]
61
+ }
62
+ },
63
+ "grasp_22": {
64
+ "confidence": 0.9888091683387756,
65
+ "position": [
66
+ -0.03439180459827185,
67
+ 0.09360936825396493,
68
+ -0.008034230209887028
69
+ ],
70
+ "orientation": {
71
+ "w": 0.12904151615094245,
72
+ "xyz": [
73
+ -0.13653376530459876,
74
+ 0.6853291346558226,
75
+ -0.7035842488523435
76
+ ]
77
+ }
78
+ },
79
+ "grasp_23": {
80
+ "confidence": 0.9887996315956116,
81
+ "position": [
82
+ -0.02925265673547983,
83
+ 0.09852983598830178,
84
+ -0.02373985107988119
85
+ ],
86
+ "orientation": {
87
+ "w": 0.1077587593084454,
88
+ "xyz": [
89
+ -0.11241304429717225,
90
+ 0.6929787100387038,
91
+ -0.7039402422771701
92
+ ]
93
+ }
94
+ },
95
+ "grasp_24": {
96
+ "confidence": 0.9887729287147522,
97
+ "position": [
98
+ -0.0029813216533511877,
99
+ 0.1035828793537803,
100
+ -0.018850118853151798
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7161674185723279,
104
+ "xyz": [
105
+ 0.6974710386276811,
106
+ 0.02377930404316042,
107
+ 0.008539528692784397
108
+ ]
109
+ }
110
+ },
111
+ "grasp_25": {
112
+ "confidence": 0.9886071085929871,
113
+ "position": [
114
+ -0.0035138302482664585,
115
+ 0.1066709810984321,
116
+ -0.009186428971588612
117
+ ],
118
+ "orientation": {
119
+ "w": 0.026659981972644894,
120
+ "xyz": [
121
+ -0.018663376924910803,
122
+ 0.7002020086598622,
123
+ -0.7132026856312804
124
+ ]
125
+ }
126
+ },
127
+ "grasp_26": {
128
+ "confidence": 0.9885546565055847,
129
+ "position": [
130
+ 0.053127740509808064,
131
+ -0.0890230109798722,
132
+ -0.02010334376245737
133
+ ],
134
+ "orientation": {
135
+ "w": 0.18482632873750057,
136
+ "xyz": [
137
+ 0.2007015688674669,
138
+ -0.6824404399411877,
139
+ -0.6781099869434404
140
+ ]
141
+ }
142
+ },
143
+ "grasp_27": {
144
+ "confidence": 0.9884949326515198,
145
+ "position": [
146
+ 0.006404420826584101,
147
+ 0.09990855102660134,
148
+ -0.008398744277656078
149
+ ],
150
+ "orientation": {
151
+ "w": 0.04311971645926341,
152
+ "xyz": [
153
+ -0.007050598349731363,
154
+ -0.7325615197437931,
155
+ 0.6792971359471849
156
+ ]
157
+ }
158
+ },
159
+ "grasp_28": {
160
+ "confidence": 0.9881616234779358,
161
+ "position": [
162
+ -0.0338755464181304,
163
+ 0.0979666689527221,
164
+ -0.024459375999867916
165
+ ],
166
+ "orientation": {
167
+ "w": 0.10679019875742835,
168
+ "xyz": [
169
+ -0.14243723364632038,
170
+ 0.6921492289399706,
171
+ -0.6994547396353367
172
+ ]
173
+ }
174
+ },
175
+ "grasp_29": {
176
+ "confidence": 0.9881181120872498,
177
+ "position": [
178
+ -0.0032648576889187098,
179
+ 0.10310617630602792,
180
+ -0.026461518369615078
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7254932494916494,
184
+ "xyz": [
185
+ 0.6878928018174647,
186
+ 0.015158120618331106,
187
+ 0.015273163689496948
188
+ ]
189
+ }
190
+ },
191
+ "grasp_30": {
192
+ "confidence": 0.9876973032951355,
193
+ "position": [
194
+ -0.03626422118395567,
195
+ 0.09309182857396081,
196
+ -0.02324757259339094
197
+ ],
198
+ "orientation": {
199
+ "w": 0.15288909558284564,
200
+ "xyz": [
201
+ -0.14278382208081594,
202
+ 0.6156953464554615,
203
+ -0.7597084605010945
204
+ ]
205
+ }
206
+ },
207
+ "grasp_31": {
208
+ "confidence": 0.9873566627502441,
209
+ "position": [
210
+ -0.016656610183417797,
211
+ 0.09994479810120538,
212
+ -0.008131601847708225
213
+ ],
214
+ "orientation": {
215
+ "w": 0.0706975960763656,
216
+ "xyz": [
217
+ -0.0636560798680534,
218
+ 0.6791394869624783,
219
+ -0.7278181851624735
220
+ ]
221
+ }
222
+ },
223
+ "grasp_32": {
224
+ "confidence": 0.9872942566871643,
225
+ "position": [
226
+ 0.002397695556282997,
227
+ -0.10350642557023093,
228
+ -0.03294703271239996
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7259712502121557,
232
+ "xyz": [
233
+ -0.6877013693888199,
234
+ -0.004664958090634164,
235
+ 0.00328763929810942
236
+ ]
237
+ }
238
+ },
239
+ "grasp_33": {
240
+ "confidence": 0.9872156381607056,
241
+ "position": [
242
+ 0.004941549152135849,
243
+ -0.10310164297698066,
244
+ -0.02182191889733076
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7186431623815507,
248
+ "xyz": [
249
+ -0.695147401994413,
250
+ -0.01626587102256616,
251
+ 0.007583937139701722
252
+ ]
253
+ }
254
+ },
255
+ "grasp_34": {
256
+ "confidence": 0.9871442914009094,
257
+ "position": [
258
+ 0.06311243865638971,
259
+ -0.08378786052344367,
260
+ -0.027803759090602398
261
+ ],
262
+ "orientation": {
263
+ "w": 0.24193705320540737,
264
+ "xyz": [
265
+ 0.2100753935320315,
266
+ -0.6618762350481189,
267
+ -0.6776832894480824
268
+ ]
269
+ }
270
+ },
271
+ "grasp_36": {
272
+ "confidence": 0.9867580533027649,
273
+ "position": [
274
+ 0.006511159706860781,
275
+ 0.10441683029057458,
276
+ -0.02093635406345129
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7267135401306802,
280
+ "xyz": [
281
+ 0.686359310476159,
282
+ -0.01871375613626458,
283
+ -0.021168912222847877
284
+ ]
285
+ }
286
+ },
287
+ "grasp_37": {
288
+ "confidence": 0.9867081642150879,
289
+ "position": [
290
+ -0.013903087005019188,
291
+ 0.09960838203551248,
292
+ -0.02889957558363676
293
+ ],
294
+ "orientation": {
295
+ "w": 0.04623298211861457,
296
+ "xyz": [
297
+ -0.05799118453928174,
298
+ 0.6863659469883017,
299
+ -0.7234648026649281
300
+ ]
301
+ }
302
+ },
303
+ "grasp_38": {
304
+ "confidence": 0.9865694642066956,
305
+ "position": [
306
+ -0.09691546019166708,
307
+ 0.020388031203765422,
308
+ -0.012684800662100315
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5693784630318677,
312
+ "xyz": [
313
+ 0.5409685055033284,
314
+ 0.44618169403369146,
315
+ 0.4290491088420865
316
+ ]
317
+ }
318
+ },
319
+ "grasp_39": {
320
+ "confidence": 0.9863969683647156,
321
+ "position": [
322
+ 0.008070511743426323,
323
+ 0.10356165264965966,
324
+ -0.02245709579437971
325
+ ],
326
+ "orientation": {
327
+ "w": 0.01919325889130384,
328
+ "xyz": [
329
+ -0.021902766819868805,
330
+ -0.6933972857869773,
331
+ 0.7199667295660394
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ },
337
+ {
338
+ "part_name": "flip-top cap",
339
+ "mask_color": "Red",
340
+ "graspable": true,
341
+ "grasp_scenarios": [
342
+ {
343
+ "scenario": "grasp the cap area to pick up the small tube from below",
344
+ "confidence": 0.72
345
+ },
346
+ {
347
+ "scenario": "hold the cap to stabilize the tube while rotating or positioning it upright",
348
+ "confidence": 0.66
349
+ },
350
+ {
351
+ "scenario": "pinch the cap edge to manipulate the closure",
352
+ "confidence": 0.61
353
+ }
354
+ ],
355
+ "functional_labels": [
356
+ "close dispensing opening",
357
+ "protect contents",
358
+ "serve as standing base",
359
+ "support upright storage",
360
+ "provide lower grip point"
361
+ ],
362
+ "semantic_description": "Short rounded silver plastic cap at the bottom of the tube with a glossy reflective finish, hard smooth texture, and a broader oval footprint that lets the package stand upright.",
363
+ "id": 0,
364
+ "grasp_group": {
365
+ "grasp_0": {
366
+ "confidence": 0.9830039739608765,
367
+ "position": [
368
+ 0.0011334421578794718,
369
+ -0.1064255257952027,
370
+ -0.0482531925663352
371
+ ],
372
+ "orientation": {
373
+ "w": 0.7348154678184955,
374
+ "xyz": [
375
+ -0.6780483382827983,
376
+ -0.01446076642107208,
377
+ -0.009357640789034947
378
+ ]
379
+ }
380
+ },
381
+ "grasp_1": {
382
+ "confidence": 0.9814692735671997,
383
+ "position": [
384
+ 0.05674791056662798,
385
+ -0.08816071803448722,
386
+ -0.04957016836851835
387
+ ],
388
+ "orientation": {
389
+ "w": 0.24201442910490314,
390
+ "xyz": [
391
+ 0.1783714829850472,
392
+ -0.6439291261067184,
393
+ -0.7035395587414973
394
+ ]
395
+ }
396
+ },
397
+ "grasp_2": {
398
+ "confidence": 0.9813981652259827,
399
+ "position": [
400
+ 0.0045075928792357445,
401
+ -0.10047133470652625,
402
+ -0.006068690679967403
403
+ ],
404
+ "orientation": {
405
+ "w": 0.5914107420940296,
406
+ "xyz": [
407
+ -0.8061117401081979,
408
+ -0.019997321726308526,
409
+ 0.004159773947863581
410
+ ]
411
+ }
412
+ },
413
+ "grasp_3": {
414
+ "confidence": 0.9804041981697083,
415
+ "position": [
416
+ 0.00094397779321298,
417
+ -0.10853653604863212,
418
+ -0.03799754660576582
419
+ ],
420
+ "orientation": {
421
+ "w": 0.7128787716354645,
422
+ "xyz": [
423
+ -0.7011896828088543,
424
+ -0.010283115562117251,
425
+ -0.005580610026320298
426
+ ]
427
+ }
428
+ },
429
+ "grasp_4": {
430
+ "confidence": 0.9794763922691345,
431
+ "position": [
432
+ -0.10123178269714117,
433
+ 0.008741557423491031,
434
+ -0.03293014224618673
435
+ ],
436
+ "orientation": {
437
+ "w": 0.4856896904062026,
438
+ "xyz": [
439
+ -0.46498130436412227,
440
+ 0.5344420645468002,
441
+ -0.5121226326456595
442
+ ]
443
+ }
444
+ },
445
+ "grasp_5": {
446
+ "confidence": 0.9793311953544617,
447
+ "position": [
448
+ 0.00017385160026606172,
449
+ -0.1070697849499993,
450
+ -0.047805516980588436
451
+ ],
452
+ "orientation": {
453
+ "w": 0.7233244843953431,
454
+ "xyz": [
455
+ -0.6904824368082911,
456
+ 0.005648614179990519,
457
+ -0.0019462505852145626
458
+ ]
459
+ }
460
+ },
461
+ "grasp_6": {
462
+ "confidence": 0.9791138768196106,
463
+ "position": [
464
+ -0.09879303630441427,
465
+ -0.003562192141544074,
466
+ -0.03964136075228453
467
+ ],
468
+ "orientation": {
469
+ "w": 0.5137000769461474,
470
+ "xyz": [
471
+ -0.4999014697780557,
472
+ 0.48351931627274247,
473
+ -0.5024139948791256
474
+ ]
475
+ }
476
+ },
477
+ "grasp_8": {
478
+ "confidence": 0.9787509441375732,
479
+ "position": [
480
+ -0.08332472201436758,
481
+ 0.051056133408565074,
482
+ -0.034260245971381664
483
+ ],
484
+ "orientation": {
485
+ "w": 0.34917910290573273,
486
+ "xyz": [
487
+ -0.35291740889491485,
488
+ 0.6129142390202461,
489
+ -0.6147026860190867
490
+ ]
491
+ }
492
+ },
493
+ "grasp_9": {
494
+ "confidence": 0.9786465764045715,
495
+ "position": [
496
+ -0.09675242658704519,
497
+ -0.017971899535041302,
498
+ -0.03902391251176596
499
+ ],
500
+ "orientation": {
501
+ "w": 0.5438155569465768,
502
+ "xyz": [
503
+ -0.5364334059558848,
504
+ 0.443009573125697,
505
+ -0.4693041222026942
506
+ ]
507
+ }
508
+ },
509
+ "grasp_10": {
510
+ "confidence": 0.9786093235015869,
511
+ "position": [
512
+ -0.09810505714267492,
513
+ -0.016846165235619992,
514
+ -0.042472037486732006
515
+ ],
516
+ "orientation": {
517
+ "w": 0.5525938556083816,
518
+ "xyz": [
519
+ -0.522322648070584,
520
+ 0.4409502716312512,
521
+ -0.47684582414520754
522
+ ]
523
+ }
524
+ },
525
+ "grasp_11": {
526
+ "confidence": 0.9784728288650513,
527
+ "position": [
528
+ -0.050134493969380856,
529
+ 0.08665514533640817,
530
+ -0.04505136888474226
531
+ ],
532
+ "orientation": {
533
+ "w": 0.17878259980464156,
534
+ "xyz": [
535
+ -0.205814010662677,
536
+ 0.6606618705845915,
537
+ -0.699430674032606
538
+ ]
539
+ }
540
+ },
541
+ "grasp_12": {
542
+ "confidence": 0.9783452153205872,
543
+ "position": [
544
+ -0.00028423400362953544,
545
+ -0.10877686197636649,
546
+ -0.04756189417093992
547
+ ],
548
+ "orientation": {
549
+ "w": 0.7171012600951034,
550
+ "xyz": [
551
+ -0.69649178547652,
552
+ -0.017188587039337455,
553
+ -0.01922311133337006
554
+ ]
555
+ }
556
+ },
557
+ "grasp_13": {
558
+ "confidence": 0.9782438278198242,
559
+ "position": [
560
+ -0.10276745166629553,
561
+ -0.006395060278009623,
562
+ -0.04361924063414335
563
+ ],
564
+ "orientation": {
565
+ "w": 0.5262295272931545,
566
+ "xyz": [
567
+ -0.5024391837332698,
568
+ 0.47595584141107317,
569
+ -0.494068202054075
570
+ ]
571
+ }
572
+ },
573
+ "grasp_14": {
574
+ "confidence": 0.9777291417121887,
575
+ "position": [
576
+ 0.09636303875595331,
577
+ 0.02385628951014951,
578
+ -0.03615629579871893
579
+ ],
580
+ "orientation": {
581
+ "w": 0.43578680441613576,
582
+ "xyz": [
583
+ -0.43257610467117497,
584
+ -0.5528310816193758,
585
+ 0.5633343323106066
586
+ ]
587
+ }
588
+ },
589
+ "grasp_15": {
590
+ "confidence": 0.9776644110679626,
591
+ "position": [
592
+ 0.0017098149983212352,
593
+ -0.10274197364924476,
594
+ -0.050152103416621685
595
+ ],
596
+ "orientation": {
597
+ "w": 0.7319469233587518,
598
+ "xyz": [
599
+ -0.6812936043910026,
600
+ -0.005185321552503397,
601
+ -0.008114089102960185
602
+ ]
603
+ }
604
+ },
605
+ "grasp_16": {
606
+ "confidence": 0.9772007465362549,
607
+ "position": [
608
+ 0.0010736890835687518,
609
+ 0.10082802717806771,
610
+ -0.04305894207209349
611
+ ],
612
+ "orientation": {
613
+ "w": 0.7212117261354332,
614
+ "xyz": [
615
+ 0.6926511225952723,
616
+ -0.006599740399455989,
617
+ 0.006671722335184007
618
+ ]
619
+ }
620
+ },
621
+ "grasp_17": {
622
+ "confidence": 0.9767921566963196,
623
+ "position": [
624
+ 0.004001219291239977,
625
+ 0.10383315180661157,
626
+ -0.041388156823813915
627
+ ],
628
+ "orientation": {
629
+ "w": 0.027349476298222167,
630
+ "xyz": [
631
+ 0.028356356071515952,
632
+ 0.6822447713086307,
633
+ -0.7300616379721597
634
+ ]
635
+ }
636
+ },
637
+ "grasp_18": {
638
+ "confidence": 0.9766546487808228,
639
+ "position": [
640
+ -0.10345849301666021,
641
+ -0.000448639621026814,
642
+ -0.04334656801074743
643
+ ],
644
+ "orientation": {
645
+ "w": 0.5099336473970884,
646
+ "xyz": [
647
+ -0.4890535707754831,
648
+ 0.49690383812841765,
649
+ -0.5038659105528961
650
+ ]
651
+ }
652
+ }
653
+ }
654
+ },
655
+ {
656
+ "part_name": "cap latch",
657
+ "mask_color": "Yellow",
658
+ "graspable": false,
659
+ "grasp_scenarios": [],
660
+ "functional_labels": [
661
+ "open the flip-top cap",
662
+ "provide fingernail leverage point",
663
+ "indicate cap front",
664
+ "assist dispensing access"
665
+ ],
666
+ "semantic_description": "Small protruding tab on the front edge of the silver cap, made of glossy hard plastic with a smooth surface and positioned as a tiny latch for opening.",
667
+ "id": 3,
668
+ "grasp_group": {}
669
+ }
670
+ ],
671
+ "quality_check": {
672
+ "success": true,
673
+ "message": "YES"
674
+ }
675
+ }
dataset/bathroom_supplies/bath_products/c063ef22c58b5ddd80c173cff6b38995/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a0fc772c7db1df923ea0625b963622fe49a1bfbc7924a1006858efd9be8bb24
3
+ size 3781816