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
2dea47a
·
verified ·
1 Parent(s): 7dbbd4b

Add asset bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/affordance/affordance_annot.json +996 -0
  3. dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.urdf +1 -0
.gitattributes CHANGED
@@ -5628,3 +5628,4 @@ dataset/bathroom_supplies/bath_products/73bede559e2b5007884269e740a475cc/afforda
5628
  dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5629
  dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5630
  dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5628
  dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5629
  dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5630
  dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5631
+ dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/affordance/affordance_annot.json ADDED
@@ -0,0 +1,996 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 outlet",
10
+ "confidence": 0.41
11
+ },
12
+ {
13
+ "scenario": "pinch the pump head to stabilize the bottle while pressing from above",
14
+ "confidence": 0.33
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense sanitizer when pressed",
19
+ "provide a press surface",
20
+ "direct the liquid outlet",
21
+ "indicate dispensing direction"
22
+ ],
23
+ "semantic_description": "Small white plastic pump head with a smooth matte-to-satin finish and hard surface, shaped like a short curved nozzle at the top of the bottle.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_40": {
27
+ "confidence": 0.9594331383705139,
28
+ "position": [
29
+ 0.0003933054395020008,
30
+ -0.08621486017364077,
31
+ 0.11538361944258213
32
+ ],
33
+ "orientation": {
34
+ "w": 0.4838166522960982,
35
+ "xyz": [
36
+ -0.8737236232930607,
37
+ 0.047788557818178035,
38
+ 0.015643874274004366
39
+ ]
40
+ }
41
+ },
42
+ "grasp_41": {
43
+ "confidence": 0.9557584524154663,
44
+ "position": [
45
+ -0.012593945022672415,
46
+ -0.08548075446742587,
47
+ 0.11281603761017323
48
+ ],
49
+ "orientation": {
50
+ "w": 0.4917960577941424,
51
+ "xyz": [
52
+ -0.8647780791210025,
53
+ 0.09823435692587701,
54
+ -0.02540713540108101
55
+ ]
56
+ }
57
+ },
58
+ "grasp_42": {
59
+ "confidence": 0.9524323344230652,
60
+ "position": [
61
+ 0.02584935398772359,
62
+ 0.07337618878227659,
63
+ 0.12097258307039738
64
+ ],
65
+ "orientation": {
66
+ "w": 0.42739484533382344,
67
+ "xyz": [
68
+ 0.8934847030830896,
69
+ -0.12147937679082765,
70
+ -0.0652801084030366
71
+ ]
72
+ }
73
+ },
74
+ "grasp_43": {
75
+ "confidence": 0.9492260813713074,
76
+ "position": [
77
+ 0.002905680565163493,
78
+ -0.08445611337083392,
79
+ 0.11847512610256672
80
+ ],
81
+ "orientation": {
82
+ "w": 0.46368437164659065,
83
+ "xyz": [
84
+ -0.8842412671694901,
85
+ -0.05468596159051664,
86
+ -0.011118926662269758
87
+ ]
88
+ }
89
+ },
90
+ "grasp_44": {
91
+ "confidence": 0.949052095413208,
92
+ "position": [
93
+ 0.0006939528975635767,
94
+ 0.04259568711859174,
95
+ 0.15285824425518513
96
+ ],
97
+ "orientation": {
98
+ "w": 0.010279311521626533,
99
+ "xyz": [
100
+ 0.014548887411640869,
101
+ -0.9777170766318048,
102
+ 0.20916974851130302
103
+ ]
104
+ }
105
+ },
106
+ "grasp_45": {
107
+ "confidence": 0.9483834505081177,
108
+ "position": [
109
+ 0.006120686419308186,
110
+ -0.08410668859141879,
111
+ 0.12181359715759754
112
+ ],
113
+ "orientation": {
114
+ "w": 0.45031843284914647,
115
+ "xyz": [
116
+ -0.891533620668581,
117
+ -0.04830228803206099,
118
+ 0.0069282916167764455
119
+ ]
120
+ }
121
+ },
122
+ "grasp_46": {
123
+ "confidence": 0.9482003450393677,
124
+ "position": [
125
+ 0.00832717539742589,
126
+ -0.05236025640624575,
127
+ 0.14591272361576557
128
+ ],
129
+ "orientation": {
130
+ "w": 0.2556821146399333,
131
+ "xyz": [
132
+ -0.9633687393320879,
133
+ 0.06082132238648641,
134
+ 0.05336754701234194
135
+ ]
136
+ }
137
+ },
138
+ "grasp_47": {
139
+ "confidence": 0.9473418593406677,
140
+ "position": [
141
+ 0.005188035313040018,
142
+ -0.05807765314239077,
143
+ 0.1456329394131899
144
+ ],
145
+ "orientation": {
146
+ "w": 0.2826543218294813,
147
+ "xyz": [
148
+ -0.9529373925473638,
149
+ 0.09880166805159862,
150
+ 0.0474877944988938
151
+ ]
152
+ }
153
+ },
154
+ "grasp_48": {
155
+ "confidence": 0.9422864317893982,
156
+ "position": [
157
+ 0.026402172166854143,
158
+ -0.08419923970359378,
159
+ 0.1127732340246439
160
+ ],
161
+ "orientation": {
162
+ "w": 0.45938379089577264,
163
+ "xyz": [
164
+ -0.8754663989926903,
165
+ 0.022624874519091398,
166
+ 0.14836856793133718
167
+ ]
168
+ }
169
+ },
170
+ "grasp_49": {
171
+ "confidence": 0.9412463903427124,
172
+ "position": [
173
+ 0.004250747617334127,
174
+ -0.0356372419919353,
175
+ 0.1537592727690935
176
+ ],
177
+ "orientation": {
178
+ "w": 0.1865076031256995,
179
+ "xyz": [
180
+ -0.9763719113682896,
181
+ 0.10452520726408934,
182
+ 0.0314211030000289
183
+ ]
184
+ }
185
+ },
186
+ "grasp_50": {
187
+ "confidence": 0.9385040402412415,
188
+ "position": [
189
+ 0.006950864568352699,
190
+ 0.05525999402743764,
191
+ 0.14772635884582996
192
+ ],
193
+ "orientation": {
194
+ "w": 0.2598626540030568,
195
+ "xyz": [
196
+ 0.9650348046738779,
197
+ 0.026427181368578023,
198
+ -0.021927856882288037
199
+ ]
200
+ }
201
+ },
202
+ "grasp_51": {
203
+ "confidence": 0.9381284713745117,
204
+ "position": [
205
+ -0.0009153856663033366,
206
+ 0.04777283107978292,
207
+ 0.1473174560815096
208
+ ],
209
+ "orientation": {
210
+ "w": 0.24705693093820222,
211
+ "xyz": [
212
+ 0.9645596809739965,
213
+ 0.09213036889219817,
214
+ 0.00997445951046514
215
+ ]
216
+ }
217
+ },
218
+ "grasp_52": {
219
+ "confidence": 0.9367032051086426,
220
+ "position": [
221
+ -0.006573094986379147,
222
+ 0.09000465532881208,
223
+ 0.10585440136492252
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5225476891971526,
227
+ "xyz": [
228
+ 0.8503656541422785,
229
+ -0.01373852504119788,
230
+ 0.060277854138840424
231
+ ]
232
+ }
233
+ },
234
+ "grasp_55": {
235
+ "confidence": 0.931441605091095,
236
+ "position": [
237
+ 0.0013544167159125209,
238
+ -0.04860872516292147,
239
+ 0.15041889436542988
240
+ ],
241
+ "orientation": {
242
+ "w": 0.053418432214763945,
243
+ "xyz": [
244
+ -0.20706436760255567,
245
+ -0.9483858175729071,
246
+ -0.23416908377417991
247
+ ]
248
+ }
249
+ },
250
+ "grasp_56": {
251
+ "confidence": 0.9296367764472961,
252
+ "position": [
253
+ 0.011986446101218462,
254
+ 0.04264257734757848,
255
+ 0.14877225644886494
256
+ ],
257
+ "orientation": {
258
+ "w": 0.24144622124727763,
259
+ "xyz": [
260
+ 0.9696513221137031,
261
+ -0.023769901852053354,
262
+ -0.03024942205236984
263
+ ]
264
+ }
265
+ },
266
+ "grasp_57": {
267
+ "confidence": 0.9287446141242981,
268
+ "position": [
269
+ 0.019736588466912508,
270
+ 0.04501886552316137,
271
+ 0.14504003711044788
272
+ ],
273
+ "orientation": {
274
+ "w": 0.25027805357561383,
275
+ "xyz": [
276
+ 0.9652995002067938,
277
+ 0.0209799780016523,
278
+ -0.07153748193755781
279
+ ]
280
+ }
281
+ },
282
+ "grasp_58": {
283
+ "confidence": 0.9285448789596558,
284
+ "position": [
285
+ -0.0052973488345742226,
286
+ -0.043934491666732356,
287
+ 0.14984177239239216
288
+ ],
289
+ "orientation": {
290
+ "w": 0.21741996308229347,
291
+ "xyz": [
292
+ -0.9756824334464823,
293
+ -0.01943269687243529,
294
+ -0.019867536573735637
295
+ ]
296
+ }
297
+ },
298
+ "grasp_59": {
299
+ "confidence": 0.9282212257385254,
300
+ "position": [
301
+ -0.0046185459941625595,
302
+ -0.007465468923328444,
303
+ 0.16000127978622913
304
+ ],
305
+ "orientation": {
306
+ "w": 0.042834004908501463,
307
+ "xyz": [
308
+ 0.19716502073270445,
309
+ 0.9791708782601551,
310
+ 0.02270669042829662
311
+ ]
312
+ }
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "part_name": "pump collar",
318
+ "mask_color": "Green",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the collar to unscrew or secure the pump assembly",
323
+ "confidence": 0.56
324
+ },
325
+ {
326
+ "scenario": "hold the collar to stabilize the top during manipulation",
327
+ "confidence": 0.38
328
+ }
329
+ ],
330
+ "functional_labels": [
331
+ "connect pump to bottle",
332
+ "secure the dispenser assembly",
333
+ "seal the bottle opening",
334
+ "support pump mechanism"
335
+ ],
336
+ "semantic_description": "Short white plastic threaded collar with a smooth slightly glossy hard surface, forming a ring around the pump base at the bottle neck.",
337
+ "id": 1,
338
+ "grasp_group": {
339
+ "grasp_20": {
340
+ "confidence": 0.9740520119667053,
341
+ "position": [
342
+ 0.044356963131576777,
343
+ 0.09186259171110578,
344
+ 0.04100450314581394
345
+ ],
346
+ "orientation": {
347
+ "w": 0.12688890719002724,
348
+ "xyz": [
349
+ -0.19109216272263424,
350
+ -0.7023709615108809,
351
+ 0.6738382765949021
352
+ ]
353
+ }
354
+ },
355
+ "grasp_21": {
356
+ "confidence": 0.9682976007461548,
357
+ "position": [
358
+ 0.04622789332643151,
359
+ 0.08749679735046811,
360
+ 0.06646599806845188
361
+ ],
362
+ "orientation": {
363
+ "w": 0.16892400895845028,
364
+ "xyz": [
365
+ -0.1824613195069657,
366
+ -0.782894086119359,
367
+ 0.5703064053651479
368
+ ]
369
+ }
370
+ },
371
+ "grasp_22": {
372
+ "confidence": 0.9607589244842529,
373
+ "position": [
374
+ -0.043168415781110525,
375
+ 0.08977538606268354,
376
+ 0.04326769895851612
377
+ ],
378
+ "orientation": {
379
+ "w": 0.18221677704055111,
380
+ "xyz": [
381
+ -0.1356221097096518,
382
+ 0.7270859819163397,
383
+ -0.647880902962581
384
+ ]
385
+ }
386
+ },
387
+ "grasp_23": {
388
+ "confidence": 0.9549667239189148,
389
+ "position": [
390
+ 0.007029012311249971,
391
+ 0.09912704935413785,
392
+ 0.05141277797520161
393
+ ],
394
+ "orientation": {
395
+ "w": 0.6544956247213677,
396
+ "xyz": [
397
+ 0.7556880065010217,
398
+ 0.011029135346837027,
399
+ -0.02120076000051017
400
+ ]
401
+ }
402
+ },
403
+ "grasp_24": {
404
+ "confidence": 0.9539116024971008,
405
+ "position": [
406
+ 0.04202671954408288,
407
+ 0.07745717724901624,
408
+ 0.08380467630922794
409
+ ],
410
+ "orientation": {
411
+ "w": 0.11373323260398961,
412
+ "xyz": [
413
+ -0.2560071675606995,
414
+ -0.8178693981721115,
415
+ 0.5026079282030711
416
+ ]
417
+ }
418
+ },
419
+ "grasp_25": {
420
+ "confidence": 0.9438061118125916,
421
+ "position": [
422
+ 0.06892900401726365,
423
+ -0.06978226194041781,
424
+ 0.03050491027534008
425
+ ],
426
+ "orientation": {
427
+ "w": 0.2720998444954153,
428
+ "xyz": [
429
+ 0.25633874654469446,
430
+ -0.6400428220309071,
431
+ -0.6712654524196657
432
+ ]
433
+ }
434
+ },
435
+ "grasp_26": {
436
+ "confidence": 0.9428584575653076,
437
+ "position": [
438
+ -0.05397876491770148,
439
+ 0.08056250473600812,
440
+ 0.05308924801647663
441
+ ],
442
+ "orientation": {
443
+ "w": 0.21343384981003904,
444
+ "xyz": [
445
+ -0.24447843609380607,
446
+ 0.7313813496904484,
447
+ -0.5997979721250901
448
+ ]
449
+ }
450
+ },
451
+ "grasp_27": {
452
+ "confidence": 0.9348134398460388,
453
+ "position": [
454
+ -0.008464859332889318,
455
+ 0.08621498456341214,
456
+ 0.08351504988968372
457
+ ],
458
+ "orientation": {
459
+ "w": 0.5092127892631814,
460
+ "xyz": [
461
+ 0.8552753768791326,
462
+ 0.09585713953404895,
463
+ 0.004215893193452093
464
+ ]
465
+ }
466
+ },
467
+ "grasp_28": {
468
+ "confidence": 0.9327864050865173,
469
+ "position": [
470
+ 0.0032206554897129536,
471
+ 0.08988017102819867,
472
+ 0.08403618074953556
473
+ ],
474
+ "orientation": {
475
+ "w": 0.5109598471618345,
476
+ "xyz": [
477
+ 0.8592247416577995,
478
+ 0.024965968347363643,
479
+ -0.00543859687060351
480
+ ]
481
+ }
482
+ },
483
+ "grasp_29": {
484
+ "confidence": 0.9324064254760742,
485
+ "position": [
486
+ -0.015976868104189634,
487
+ 0.09238664319855161,
488
+ 0.04523019306361675
489
+ ],
490
+ "orientation": {
491
+ "w": 0.08237632201516776,
492
+ "xyz": [
493
+ -0.032783205491159144,
494
+ 0.7400753712548019,
495
+ -0.6666542191204109
496
+ ]
497
+ }
498
+ },
499
+ "grasp_30": {
500
+ "confidence": 0.9286094307899475,
501
+ "position": [
502
+ 0.0073102680034935474,
503
+ 0.09593346228939481,
504
+ 0.04427616111934185
505
+ ],
506
+ "orientation": {
507
+ "w": 0.6733412628521599,
508
+ "xyz": [
509
+ 0.7382439543087044,
510
+ 0.016307963227564892,
511
+ -0.03662591982018634
512
+ ]
513
+ }
514
+ },
515
+ "grasp_31": {
516
+ "confidence": 0.9285220503807068,
517
+ "position": [
518
+ 0.08650001371279359,
519
+ 0.04975544547778554,
520
+ 0.035236651077866554
521
+ ],
522
+ "orientation": {
523
+ "w": 0.3639303735442305,
524
+ "xyz": [
525
+ -0.34969363676746795,
526
+ -0.6198887244353009,
527
+ 0.6008385914155934
528
+ ]
529
+ }
530
+ },
531
+ "grasp_33": {
532
+ "confidence": 0.9235078692436218,
533
+ "position": [
534
+ -0.07305869972333312,
535
+ 0.0663668092165608,
536
+ 0.05083549581468105
537
+ ],
538
+ "orientation": {
539
+ "w": 0.5814020394109615,
540
+ "xyz": [
541
+ 0.7071048070587482,
542
+ 0.2861815114358801,
543
+ 0.2829745623116345
544
+ ]
545
+ }
546
+ },
547
+ "grasp_34": {
548
+ "confidence": 0.9219142198562622,
549
+ "position": [
550
+ -0.08518980955705047,
551
+ -0.054222529026446864,
552
+ 0.045287853106856346
553
+ ],
554
+ "orientation": {
555
+ "w": 0.5802786224635531,
556
+ "xyz": [
557
+ -0.6532553475716245,
558
+ 0.3676562494701495,
559
+ -0.31837564826227016
560
+ ]
561
+ }
562
+ },
563
+ "grasp_35": {
564
+ "confidence": 0.9206950068473816,
565
+ "position": [
566
+ -0.004711765330284834,
567
+ 0.08264521768433042,
568
+ 0.09663998521864414
569
+ ],
570
+ "orientation": {
571
+ "w": 0.03940820380841209,
572
+ "xyz": [
573
+ -0.00822986512953925,
574
+ 0.8923928589576575,
575
+ -0.44945995157958357
576
+ ]
577
+ }
578
+ },
579
+ "grasp_36": {
580
+ "confidence": 0.9173978567123413,
581
+ "position": [
582
+ -0.05115679046139121,
583
+ 0.08124950787168927,
584
+ 0.04980369098484516
585
+ ],
586
+ "orientation": {
587
+ "w": 0.6135834600571652,
588
+ "xyz": [
589
+ 0.7299261894170462,
590
+ 0.12932483971749498,
591
+ 0.2720260674630863
592
+ ]
593
+ }
594
+ },
595
+ "grasp_37": {
596
+ "confidence": 0.8814486861228943,
597
+ "position": [
598
+ -0.07446513837203383,
599
+ -0.06612275281804614,
600
+ 0.04399621672928333
601
+ ],
602
+ "orientation": {
603
+ "w": 0.31856762161428137,
604
+ "xyz": [
605
+ 0.3162132691684744,
606
+ 0.6620116161612465,
607
+ 0.6002203419814932
608
+ ]
609
+ }
610
+ },
611
+ "grasp_38": {
612
+ "confidence": 0.8723894953727722,
613
+ "position": [
614
+ 0.08810921246185899,
615
+ 0.04943043997627683,
616
+ 0.03433718904852867
617
+ ],
618
+ "orientation": {
619
+ "w": 0.5875084497992236,
620
+ "xyz": [
621
+ 0.6179103655898223,
622
+ -0.3364860730089073,
623
+ -0.3997470752641092
624
+ ]
625
+ }
626
+ },
627
+ "grasp_39": {
628
+ "confidence": 0.8678765296936035,
629
+ "position": [
630
+ -0.0730938813649118,
631
+ 0.04219150802236982,
632
+ 0.09114225395023823
633
+ ],
634
+ "orientation": {
635
+ "w": 0.24842877460446788,
636
+ "xyz": [
637
+ -0.4229442496784979,
638
+ 0.7711743692929616,
639
+ -0.40582187934858566
640
+ ]
641
+ }
642
+ }
643
+ }
644
+ },
645
+ {
646
+ "part_name": "pump stem",
647
+ "mask_color": "Purple",
648
+ "graspable": false,
649
+ "grasp_scenarios": [],
650
+ "functional_labels": [
651
+ "transfer motion to pump",
652
+ "connect pump head to bottle",
653
+ "guide vertical pressing movement"
654
+ ],
655
+ "semantic_description": "Very short white plastic stem with a smooth hard surface, positioned between the pump head and collar as a narrow cylindrical connector.",
656
+ "id": 5,
657
+ "grasp_group": {}
658
+ },
659
+ {
660
+ "part_name": "bottle body",
661
+ "mask_color": "Red",
662
+ "graspable": true,
663
+ "grasp_scenarios": [
664
+ {
665
+ "scenario": "grasp the bottle body to pick up and move the sanitizer",
666
+ "confidence": 0.95
667
+ },
668
+ {
669
+ "scenario": "hold the bottle body while another tool presses the pump",
670
+ "confidence": 0.9
671
+ },
672
+ {
673
+ "scenario": "side-grasp the bottle body to reposition it on a surface",
674
+ "confidence": 0.92
675
+ }
676
+ ],
677
+ "functional_labels": [
678
+ "contain sanitizer",
679
+ "main grasp surface",
680
+ "support standing",
681
+ "provide product structure"
682
+ ],
683
+ "semantic_description": "Large white plastic bottle body with a smooth semi-gloss hard surface, rounded asymmetrical oval shape, and printed front branding and red text on the broad face.",
684
+ "id": 0,
685
+ "grasp_group": {
686
+ "grasp_0": {
687
+ "confidence": 0.970720112323761,
688
+ "position": [
689
+ 0.0032722989562898874,
690
+ -0.10692320505040698,
691
+ 0.028086645528674126
692
+ ],
693
+ "orientation": {
694
+ "w": 0.6855481962111478,
695
+ "xyz": [
696
+ -0.727814545412997,
697
+ -0.002324288107872108,
698
+ 0.017442930995274462
699
+ ]
700
+ }
701
+ },
702
+ "grasp_1": {
703
+ "confidence": 0.9684746861457825,
704
+ "position": [
705
+ 0.020106047857552767,
706
+ -0.09955317268031649,
707
+ 0.03441962040960789
708
+ ],
709
+ "orientation": {
710
+ "w": 0.6880423337934729,
711
+ "xyz": [
712
+ -0.7206776476667612,
713
+ -0.05163554270759352,
714
+ 0.06749256100361545
715
+ ]
716
+ }
717
+ },
718
+ "grasp_2": {
719
+ "confidence": 0.9677850604057312,
720
+ "position": [
721
+ 0.046465563122183084,
722
+ 0.09006336590391584,
723
+ 0.03718581981956959
724
+ ],
725
+ "orientation": {
726
+ "w": 0.6421208656699195,
727
+ "xyz": [
728
+ 0.726122332631273,
729
+ -0.18099823335284004,
730
+ -0.16633337442793347
731
+ ]
732
+ }
733
+ },
734
+ "grasp_3": {
735
+ "confidence": 0.9672996997833252,
736
+ "position": [
737
+ 0.02301569515839219,
738
+ 0.10498740783077665,
739
+ 0.028681887313723564
740
+ ],
741
+ "orientation": {
742
+ "w": 0.6844867998445223,
743
+ "xyz": [
744
+ 0.7231226001771758,
745
+ -0.05005962786081375,
746
+ -0.0778817026652713
747
+ ]
748
+ }
749
+ },
750
+ "grasp_4": {
751
+ "confidence": 0.9671799540519714,
752
+ "position": [
753
+ 0.00925988657400012,
754
+ 0.10501759013277479,
755
+ 0.030666254460811615
756
+ ],
757
+ "orientation": {
758
+ "w": 0.6784821716467352,
759
+ "xyz": [
760
+ 0.7340076816517224,
761
+ -0.016451184027326815,
762
+ -0.02498048394032682
763
+ ]
764
+ }
765
+ },
766
+ "grasp_5": {
767
+ "confidence": 0.9645971059799194,
768
+ "position": [
769
+ -0.0007354702102020383,
770
+ -0.10278017559903674,
771
+ 0.03255455754697323
772
+ ],
773
+ "orientation": {
774
+ "w": 0.700850786522972,
775
+ "xyz": [
776
+ -0.7130042146924918,
777
+ 0.020811503087429295,
778
+ 0.00021494212393560064
779
+ ]
780
+ }
781
+ },
782
+ "grasp_6": {
783
+ "confidence": 0.9620655179023743,
784
+ "position": [
785
+ 0.006869176402688026,
786
+ 0.10584415009361692,
787
+ 0.03261847235262394
788
+ ],
789
+ "orientation": {
790
+ "w": 0.6893481249118886,
791
+ "xyz": [
792
+ 0.7243430209254978,
793
+ -0.0032939061408806536,
794
+ -0.010747134470264935
795
+ ]
796
+ }
797
+ },
798
+ "grasp_7": {
799
+ "confidence": 0.9608823657035828,
800
+ "position": [
801
+ 0.012457216624170542,
802
+ -0.10816848019021563,
803
+ 0.02840106002986431
804
+ ],
805
+ "orientation": {
806
+ "w": 0.6979909415926967,
807
+ "xyz": [
808
+ -0.7142992945393297,
809
+ -0.02218913553942481,
810
+ 0.045747191598718026
811
+ ]
812
+ }
813
+ },
814
+ "grasp_8": {
815
+ "confidence": 0.9576970338821411,
816
+ "position": [
817
+ -0.02206847397610545,
818
+ 0.09511885305983014,
819
+ 0.05846835859119892
820
+ ],
821
+ "orientation": {
822
+ "w": 0.08635809987959149,
823
+ "xyz": [
824
+ -0.07787127183364263,
825
+ 0.8082499240836801,
826
+ -0.5772437992970764
827
+ ]
828
+ }
829
+ },
830
+ "grasp_9": {
831
+ "confidence": 0.9576830267906189,
832
+ "position": [
833
+ 0.006652213633060455,
834
+ 0.09895215442520566,
835
+ 0.03467063792049885
836
+ ],
837
+ "orientation": {
838
+ "w": 0.043720441782072024,
839
+ "xyz": [
840
+ 0.0027057146002430685,
841
+ -0.7272733767137047,
842
+ 0.6849486386601034
843
+ ]
844
+ }
845
+ },
846
+ "grasp_10": {
847
+ "confidence": 0.9569063186645508,
848
+ "position": [
849
+ 0.022534277755767107,
850
+ 0.08887700995546766,
851
+ 0.06879625655710697
852
+ ],
853
+ "orientation": {
854
+ "w": 0.5269783671029379,
855
+ "xyz": [
856
+ 0.8443742363780298,
857
+ -0.07511019573037192,
858
+ -0.060699324904694506
859
+ ]
860
+ }
861
+ },
862
+ "grasp_12": {
863
+ "confidence": 0.9533359408378601,
864
+ "position": [
865
+ -0.0012200451456010342,
866
+ -0.11229631045716815,
867
+ -0.03983218036592007
868
+ ],
869
+ "orientation": {
870
+ "w": 0.7162258476481419,
871
+ "xyz": [
872
+ -0.6978555871841944,
873
+ -0.0038266213539813743,
874
+ 0.0018632137604574631
875
+ ]
876
+ }
877
+ },
878
+ "grasp_14": {
879
+ "confidence": 0.9531897306442261,
880
+ "position": [
881
+ 0.02472000988200307,
882
+ -0.10112719723838381,
883
+ 0.05126058869063854
884
+ ],
885
+ "orientation": {
886
+ "w": 0.6056931757879903,
887
+ "xyz": [
888
+ -0.7847182184288406,
889
+ -0.11002232601610351,
890
+ 0.07244433896262126
891
+ ]
892
+ }
893
+ },
894
+ "grasp_15": {
895
+ "confidence": 0.9514882564544678,
896
+ "position": [
897
+ 0.002441892633214593,
898
+ -0.11325444022077136,
899
+ -0.0441881138831377
900
+ ],
901
+ "orientation": {
902
+ "w": 0.7273843226157412,
903
+ "xyz": [
904
+ -0.6860453386910308,
905
+ -0.013922559323556793,
906
+ 0.007746148399728983
907
+ ]
908
+ }
909
+ },
910
+ "grasp_16": {
911
+ "confidence": 0.9487394094467163,
912
+ "position": [
913
+ -0.02269581099972129,
914
+ -0.10112107286113314,
915
+ 0.04429288022220135
916
+ ],
917
+ "orientation": {
918
+ "w": 0.1184957759310061,
919
+ "xyz": [
920
+ 0.09900757126982267,
921
+ 0.7554303043979955,
922
+ 0.6367741413679663
923
+ ]
924
+ }
925
+ },
926
+ "grasp_17": {
927
+ "confidence": 0.9482713937759399,
928
+ "position": [
929
+ 0.008883291389793158,
930
+ -0.11161543914931826,
931
+ 0.02266368269920349
932
+ ],
933
+ "orientation": {
934
+ "w": 0.7012603620249206,
935
+ "xyz": [
936
+ -0.7110284604751688,
937
+ -0.00207415881059958,
938
+ 0.05165395350035935
939
+ ]
940
+ }
941
+ },
942
+ "grasp_18": {
943
+ "confidence": 0.9479815363883972,
944
+ "position": [
945
+ -0.012131151277571917,
946
+ 0.08737603834015317,
947
+ 0.07875378616154194
948
+ ],
949
+ "orientation": {
950
+ "w": 0.04603565676376364,
951
+ "xyz": [
952
+ -0.06143974255124739,
953
+ 0.8733752701612336,
954
+ -0.48095895231543145
955
+ ]
956
+ }
957
+ },
958
+ "grasp_19": {
959
+ "confidence": 0.94659823179245,
960
+ "position": [
961
+ 0.016904032323509455,
962
+ 0.09668037554365583,
963
+ 0.03044874779880047
964
+ ],
965
+ "orientation": {
966
+ "w": 0.06878740796722486,
967
+ "xyz": [
968
+ -0.05910218979273786,
969
+ -0.7328570205017847,
970
+ 0.6743113606992692
971
+ ]
972
+ }
973
+ }
974
+ }
975
+ },
976
+ {
977
+ "part_name": "front label panel",
978
+ "mask_color": "Orange",
979
+ "graspable": false,
980
+ "grasp_scenarios": [],
981
+ "functional_labels": [
982
+ "display brand information",
983
+ "identify product front",
984
+ "provide usage labeling",
985
+ "indicate orientation"
986
+ ],
987
+ "semantic_description": "Large inset front panel area on the bottle, appearing white with colorful printed graphics and text, smooth and slightly glossy, centered on the main broad face.",
988
+ "id": 4,
989
+ "grasp_group": {}
990
+ }
991
+ ],
992
+ "quality_check": {
993
+ "success": true,
994
+ "message": "YES"
995
+ }
996
+ }
dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:476a2cd835035fdee8aea485d10c41fc856944e22227acad686487fb0782b1e3
3
+ size 3784488
dataset/bathroom_supplies/bath_products/7ab3dfea6e335ae38e8dec3baf52f813/hand_sanitizer_013.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>