Add asset bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91
Browse files
.gitattributes
CHANGED
|
@@ -5738,3 +5738,4 @@ dataset/bathroom_supplies/personal_care/0cc1b3941de25d52a2219ecc90c94fb8/afforda
|
|
| 5738 |
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5739 |
dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5740 |
dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5738 |
dataset/bathroom_supplies/personal_care/0edc07fb3d255f5ba221c2779e5fbe62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5739 |
dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5740 |
dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5741 |
+
dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,672 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the cup",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body while aligning the cup under a dispenser",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main structural shell",
|
| 24 |
+
"support grasping",
|
| 25 |
+
"support printed decoration"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The main cup is a light blue plastic body with a smooth slightly glossy hard surface, gently tapered cylindrical shape, medium size, and a cartoon graphic printed on the side.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.9634370803833008,
|
| 32 |
+
"position": [
|
| 33 |
+
0.04645163251552731,
|
| 34 |
+
-0.08888218912761658,
|
| 35 |
+
0.017196106142364442
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6429749545836605,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7244407560908798,
|
| 41 |
+
-0.18840339115338323,
|
| 42 |
+
0.16208936083074532
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_41": {
|
| 47 |
+
"confidence": 0.9629829525947571,
|
| 48 |
+
"position": [
|
| 49 |
+
0.05772044195327908,
|
| 50 |
+
-0.08320236566942185,
|
| 51 |
+
0.003105415147729218
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.23990016716575346,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.2034866727845904,
|
| 57 |
+
-0.6779446188295024,
|
| 58 |
+
-0.6644036255116474
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_42": {
|
| 63 |
+
"confidence": 0.9618056416511536,
|
| 64 |
+
"position": [
|
| 65 |
+
0.04461978061590344,
|
| 66 |
+
-0.092535067233257,
|
| 67 |
+
0.013378310366533697
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.16279359613206976,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.17816129447302817,
|
| 73 |
+
-0.7115035521784926,
|
| 74 |
+
-0.6599390073692193
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_43": {
|
| 79 |
+
"confidence": 0.961017370223999,
|
| 80 |
+
"position": [
|
| 81 |
+
0.051262226537801325,
|
| 82 |
+
-0.08787364128511399,
|
| 83 |
+
0.010788707411848009
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6502290372980118,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.7105602090429192,
|
| 89 |
+
-0.15222591961711796,
|
| 90 |
+
0.2216611327592332
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_44": {
|
| 95 |
+
"confidence": 0.9589740037918091,
|
| 96 |
+
"position": [
|
| 97 |
+
0.06537564902100712,
|
| 98 |
+
-0.07910396519582719,
|
| 99 |
+
0.002502105198800564
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.2829886829362039,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.2070815031540165,
|
| 105 |
+
-0.6740723845976037,
|
| 106 |
+
-0.6501238933498799
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_45": {
|
| 111 |
+
"confidence": 0.9583327770233154,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0615794031182304,
|
| 114 |
+
-0.0807400009362027,
|
| 115 |
+
0.023211285821162164
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6275235700024283,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.7076573433562073,
|
| 121 |
+
-0.24420412593141272,
|
| 122 |
+
0.21400840722625136
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_47": {
|
| 127 |
+
"confidence": 0.9580978155136108,
|
| 128 |
+
"position": [
|
| 129 |
+
0.046211202279664576,
|
| 130 |
+
-0.0806530675617978,
|
| 131 |
+
-0.04435430990997702
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.2511375966829855,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.1310532750789951,
|
| 137 |
+
-0.5000181836473928,
|
| 138 |
+
-0.8183744635833436
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_48": {
|
| 143 |
+
"confidence": 0.9572919607162476,
|
| 144 |
+
"position": [
|
| 145 |
+
0.05406980647239834,
|
| 146 |
+
-0.08120885107200593,
|
| 147 |
+
0.024919711402617395
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5987281131875996,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7439989306819034,
|
| 153 |
+
-0.22191998488160758,
|
| 154 |
+
0.1968292608662353
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_49": {
|
| 159 |
+
"confidence": 0.956670880317688,
|
| 160 |
+
"position": [
|
| 161 |
+
0.06860855279956013,
|
| 162 |
+
-0.0739864147035405,
|
| 163 |
+
0.004588490701280534
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.27057521641301785,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.2703610746022885,
|
| 169 |
+
-0.6579044059988645,
|
| 170 |
+
-0.6487339471387524
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_52": {
|
| 175 |
+
"confidence": 0.9556479454040527,
|
| 176 |
+
"position": [
|
| 177 |
+
0.0470569102326408,
|
| 178 |
+
-0.08158435288351029,
|
| 179 |
+
-0.03390164452139288
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.25750627562939243,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.11535447853499708,
|
| 185 |
+
-0.5330973373469817,
|
| 186 |
+
-0.7976158794852051
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_53": {
|
| 191 |
+
"confidence": 0.955409824848175,
|
| 192 |
+
"position": [
|
| 193 |
+
0.0201017806539312,
|
| 194 |
+
-0.04434714454691857,
|
| 195 |
+
0.09525202435906976
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.255640200858516,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.9410449120384968,
|
| 201 |
+
-0.2127710571655207,
|
| 202 |
+
0.06173360887022695
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_54": {
|
| 207 |
+
"confidence": 0.9553421139717102,
|
| 208 |
+
"position": [
|
| 209 |
+
0.056092549697496,
|
| 210 |
+
-0.07233396533410996,
|
| 211 |
+
0.04636944679077715
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.22076684826637358,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.23369082747256595,
|
| 217 |
+
-0.811639402280398,
|
| 218 |
+
-0.4877418133886383
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_55": {
|
| 223 |
+
"confidence": 0.9544150829315186,
|
| 224 |
+
"position": [
|
| 225 |
+
0.05450652970466763,
|
| 226 |
+
-0.07933309290092438,
|
| 227 |
+
0.028737439191900194
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.20573145376729898,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.21701969255073658,
|
| 233 |
+
-0.7743960729611291,
|
| 234 |
+
-0.5575730841408675
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_56": {
|
| 239 |
+
"confidence": 0.9536429643630981,
|
| 240 |
+
"position": [
|
| 241 |
+
0.05368693976197392,
|
| 242 |
+
-0.08409493777435273,
|
| 243 |
+
0.0409027881687507
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.1643701846993469,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.25253618180128357,
|
| 249 |
+
-0.7864146115767926,
|
| 250 |
+
-0.5392216408506375
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_57": {
|
| 255 |
+
"confidence": 0.9535542130470276,
|
| 256 |
+
"position": [
|
| 257 |
+
0.001481749932281673,
|
| 258 |
+
0.003901903168298304,
|
| 259 |
+
-0.09779917972628027
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.24295894578354593,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.01073029314798662,
|
| 265 |
+
0.02621194062311294,
|
| 266 |
+
-0.9696229914979724
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_58": {
|
| 271 |
+
"confidence": 0.9533839225769043,
|
| 272 |
+
"position": [
|
| 273 |
+
0.07472428737673908,
|
| 274 |
+
-0.06528099242132157,
|
| 275 |
+
0.02351303247269243
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.3099261935661888,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.26878450932540826,
|
| 281 |
+
-0.7075699887868406,
|
| 282 |
+
-0.5753654082897783
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_59": {
|
| 287 |
+
"confidence": 0.9524644613265991,
|
| 288 |
+
"position": [
|
| 289 |
+
0.049280811683274806,
|
| 290 |
+
-0.07793563220184296,
|
| 291 |
+
0.050816828734241426
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.1620228877293569,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.23917385126631624,
|
| 297 |
+
-0.8265976250276307,
|
| 298 |
+
-0.4829915310033486
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "rim",
|
| 306 |
+
"mask_color": "Purple",
|
| 307 |
+
"graspable": false,
|
| 308 |
+
"grasp_scenarios": [],
|
| 309 |
+
"functional_labels": [
|
| 310 |
+
"define drinking edge",
|
| 311 |
+
"stiffen the opening",
|
| 312 |
+
"guide pouring",
|
| 313 |
+
"border the cup opening"
|
| 314 |
+
],
|
| 315 |
+
"semantic_description": "The rim is a rounded light blue plastic lip around the top opening with a smooth glossy finish, hard texture, and continuous circular shape at the cup's upper edge.",
|
| 316 |
+
"id": 5,
|
| 317 |
+
"grasp_group": {}
|
| 318 |
+
},
|
| 319 |
+
{
|
| 320 |
+
"part_name": "interior",
|
| 321 |
+
"mask_color": "Red",
|
| 322 |
+
"graspable": false,
|
| 323 |
+
"grasp_scenarios": [],
|
| 324 |
+
"functional_labels": [
|
| 325 |
+
"hold mouthwash",
|
| 326 |
+
"provide liquid cavity",
|
| 327 |
+
"receive poured liquid"
|
| 328 |
+
],
|
| 329 |
+
"semantic_description": "The interior is a darker blue smooth glossy plastic cavity inside the cup, bowl-like and recessed below the rim, forming the main liquid-holding space.",
|
| 330 |
+
"id": 0,
|
| 331 |
+
"grasp_group": {}
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"part_name": "base",
|
| 335 |
+
"mask_color": "Orange",
|
| 336 |
+
"graspable": true,
|
| 337 |
+
"grasp_scenarios": [
|
| 338 |
+
{
|
| 339 |
+
"scenario": "grasp the bottom edge to reorient an upside-down or sideways cup",
|
| 340 |
+
"confidence": 0.44
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"scenario": "pinch the base while lifting from a flat surface in a constrained setup",
|
| 344 |
+
"confidence": 0.36
|
| 345 |
+
}
|
| 346 |
+
],
|
| 347 |
+
"functional_labels": [
|
| 348 |
+
"support standing",
|
| 349 |
+
"stabilize the cup",
|
| 350 |
+
"protect the bottom surface"
|
| 351 |
+
],
|
| 352 |
+
"semantic_description": "The base is a darker blue circular plastic bottom with a smooth slightly glossy hard surface, broad and flat, located underneath the cup to provide stable support.",
|
| 353 |
+
"id": 4,
|
| 354 |
+
"grasp_group": {
|
| 355 |
+
"grasp_60": {
|
| 356 |
+
"confidence": 0.7783418297767639,
|
| 357 |
+
"position": [
|
| 358 |
+
0.05250548629555851,
|
| 359 |
+
-0.06790255371015519,
|
| 360 |
+
-0.07144943403545767
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.8273635255381158,
|
| 364 |
+
"xyz": [
|
| 365 |
+
-0.43184128406882905,
|
| 366 |
+
-0.14456084411713832,
|
| 367 |
+
0.3287626261165726
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_68": {
|
| 372 |
+
"confidence": 0.7121923565864563,
|
| 373 |
+
"position": [
|
| 374 |
+
-0.06726103217806667,
|
| 375 |
+
0.04992109921295196,
|
| 376 |
+
-0.06731088983360678
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.811676132217863,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.41617804503146993,
|
| 382 |
+
0.2142291373406099,
|
| 383 |
+
0.34940459060512064
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"grasp_69": {
|
| 388 |
+
"confidence": 0.7069988250732422,
|
| 389 |
+
"position": [
|
| 390 |
+
-0.07231903017964214,
|
| 391 |
+
-0.04370488959830254,
|
| 392 |
+
-0.06747296231333166
|
| 393 |
+
],
|
| 394 |
+
"orientation": {
|
| 395 |
+
"w": 0.4516470225993721,
|
| 396 |
+
"xyz": [
|
| 397 |
+
0.22672172432917,
|
| 398 |
+
0.4090646494791218,
|
| 399 |
+
0.7597883516090864
|
| 400 |
+
]
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"grasp_79": {
|
| 404 |
+
"confidence": 0.255005806684494,
|
| 405 |
+
"position": [
|
| 406 |
+
0.08047545759472996,
|
| 407 |
+
0.0016686903545632958,
|
| 408 |
+
-0.07673385518137366
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.6400892489908334,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.29105133008024636,
|
| 414 |
+
-0.31055704343878254,
|
| 415 |
+
0.6396320812431414
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
}
|
| 419 |
+
}
|
| 420 |
+
},
|
| 421 |
+
{
|
| 422 |
+
"part_name": "left handle",
|
| 423 |
+
"mask_color": "Blue",
|
| 424 |
+
"graspable": true,
|
| 425 |
+
"grasp_scenarios": [
|
| 426 |
+
{
|
| 427 |
+
"scenario": "grasp the left handle to lift and carry the cup",
|
| 428 |
+
"confidence": 0.91
|
| 429 |
+
},
|
| 430 |
+
{
|
| 431 |
+
"scenario": "hold the left handle to stabilize the cup during pouring or repositioning",
|
| 432 |
+
"confidence": 0.84
|
| 433 |
+
}
|
| 434 |
+
],
|
| 435 |
+
"functional_labels": [
|
| 436 |
+
"provide side grip",
|
| 437 |
+
"help lift the cup",
|
| 438 |
+
"aid orientation control",
|
| 439 |
+
"stabilize handling"
|
| 440 |
+
],
|
| 441 |
+
"semantic_description": "The left handle is a light blue plastic curved loop with a smooth glossy hard surface, medium thickness, and rounded shape protruding from one side of the cup.",
|
| 442 |
+
"id": 2,
|
| 443 |
+
"grasp_group": {
|
| 444 |
+
"grasp_20": {
|
| 445 |
+
"confidence": 0.8623965382575989,
|
| 446 |
+
"position": [
|
| 447 |
+
0.01952749735210091,
|
| 448 |
+
-0.11405823740642518,
|
| 449 |
+
-0.0013722722651436925
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.5553513741062731,
|
| 453 |
+
"xyz": [
|
| 454 |
+
-0.44158747283067995,
|
| 455 |
+
-0.543931254754711,
|
| 456 |
+
-0.44802248293836094
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_24": {
|
| 461 |
+
"confidence": 0.6378993988037109,
|
| 462 |
+
"position": [
|
| 463 |
+
-0.002895600046031177,
|
| 464 |
+
-0.007693027029745281,
|
| 465 |
+
-0.09513882326427847
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.7214727612167564,
|
| 469 |
+
"xyz": [
|
| 470 |
+
-0.005222185937347883,
|
| 471 |
+
0.03371631482353343,
|
| 472 |
+
0.6916017594765251
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_25": {
|
| 477 |
+
"confidence": 0.5213594436645508,
|
| 478 |
+
"position": [
|
| 479 |
+
0.012254310422576964,
|
| 480 |
+
-0.011997882160358131,
|
| 481 |
+
-0.09341493772808462
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.6912965353397135,
|
| 485 |
+
"xyz": [
|
| 486 |
+
0.007914213869863755,
|
| 487 |
+
-0.05619078612166595,
|
| 488 |
+
-0.7203395456318912
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_26": {
|
| 493 |
+
"confidence": 0.5004677772521973,
|
| 494 |
+
"position": [
|
| 495 |
+
0.04196947126183659,
|
| 496 |
+
0.00432784587610513,
|
| 497 |
+
0.09586318803485483
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.18390366997945995,
|
| 501 |
+
"xyz": [
|
| 502 |
+
0.7592691825938293,
|
| 503 |
+
-0.6015636949722156,
|
| 504 |
+
-0.16676591205267152
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_27": {
|
| 509 |
+
"confidence": 0.45344462990760803,
|
| 510 |
+
"position": [
|
| 511 |
+
0.008462781668640673,
|
| 512 |
+
-0.010047300602309406,
|
| 513 |
+
0.10714778525289148
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.04757986315020785,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.7118045281011363,
|
| 519 |
+
-0.7007203707139573,
|
| 520 |
+
-0.00783788643838089
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_33": {
|
| 525 |
+
"confidence": 0.22703956067562103,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.031960199936293066,
|
| 528 |
+
-0.06764657411258668,
|
| 529 |
+
0.08716614020522684
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.073972383021625,
|
| 533 |
+
"xyz": [
|
| 534 |
+
-0.5926051877700326,
|
| 535 |
+
-0.7325906087165835,
|
| 536 |
+
-0.32658563654639267
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_34": {
|
| 541 |
+
"confidence": 0.8873482346534729,
|
| 542 |
+
"position": [
|
| 543 |
+
-0.005689397803507745,
|
| 544 |
+
-0.11436970892827958,
|
| 545 |
+
0.0061849699122831225
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.49809335490526774,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.4827574489520473,
|
| 551 |
+
0.534750902275248,
|
| 552 |
+
0.48258649773520906
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_35": {
|
| 557 |
+
"confidence": 0.8771579265594482,
|
| 558 |
+
"position": [
|
| 559 |
+
0.01419357827398926,
|
| 560 |
+
-0.11259380343835801,
|
| 561 |
+
-0.005919843097217381
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.5492476655254205,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.4444311621552119,
|
| 567 |
+
-0.5309878937500718,
|
| 568 |
+
-0.467824540518244
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_37": {
|
| 573 |
+
"confidence": 0.8504143357276917,
|
| 574 |
+
"position": [
|
| 575 |
+
0.019723810837604105,
|
| 576 |
+
-0.11272392037790269,
|
| 577 |
+
0.0006240729126147926
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.5554140662572816,
|
| 581 |
+
"xyz": [
|
| 582 |
+
-0.4672568597166692,
|
| 583 |
+
-0.5418200668791915,
|
| 584 |
+
-0.423812761934203
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
}
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
{
|
| 591 |
+
"part_name": "right handle",
|
| 592 |
+
"mask_color": "Green",
|
| 593 |
+
"graspable": true,
|
| 594 |
+
"grasp_scenarios": [
|
| 595 |
+
{
|
| 596 |
+
"scenario": "grasp the right handle to lift and carry the cup",
|
| 597 |
+
"confidence": 0.91
|
| 598 |
+
},
|
| 599 |
+
{
|
| 600 |
+
"scenario": "hold the right handle to stabilize the cup during pouring or repositioning",
|
| 601 |
+
"confidence": 0.84
|
| 602 |
+
},
|
| 603 |
+
{
|
| 604 |
+
"scenario": "use both handles for two-point symmetric grasping",
|
| 605 |
+
"confidence": 0.72
|
| 606 |
+
}
|
| 607 |
+
],
|
| 608 |
+
"functional_labels": [
|
| 609 |
+
"provide side grip",
|
| 610 |
+
"help lift the cup",
|
| 611 |
+
"aid orientation control",
|
| 612 |
+
"enable two-handle stabilization"
|
| 613 |
+
],
|
| 614 |
+
"semantic_description": "The right handle is a light blue plastic curved loop with a smooth glossy hard surface, medium thickness, and rounded shape protruding from the opposite side of the cup.",
|
| 615 |
+
"id": 1,
|
| 616 |
+
"grasp_group": {
|
| 617 |
+
"grasp_7": {
|
| 618 |
+
"confidence": 0.5482999086380005,
|
| 619 |
+
"position": [
|
| 620 |
+
0.008699549944140017,
|
| 621 |
+
0.017188215744681656,
|
| 622 |
+
0.10526708734687418
|
| 623 |
+
],
|
| 624 |
+
"orientation": {
|
| 625 |
+
"w": 0.03169263430418665,
|
| 626 |
+
"xyz": [
|
| 627 |
+
0.6917020719153393,
|
| 628 |
+
0.7179757584494847,
|
| 629 |
+
-0.07109592757517556
|
| 630 |
+
]
|
| 631 |
+
}
|
| 632 |
+
},
|
| 633 |
+
"grasp_12": {
|
| 634 |
+
"confidence": 0.7220132350921631,
|
| 635 |
+
"position": [
|
| 636 |
+
0.04757188318762928,
|
| 637 |
+
0.014335258048959076,
|
| 638 |
+
-0.08199106680694968
|
| 639 |
+
],
|
| 640 |
+
"orientation": {
|
| 641 |
+
"w": 0.6775818954678355,
|
| 642 |
+
"xyz": [
|
| 643 |
+
-0.12101205001994145,
|
| 644 |
+
-0.219516390332132,
|
| 645 |
+
0.691412621420623
|
| 646 |
+
]
|
| 647 |
+
}
|
| 648 |
+
},
|
| 649 |
+
"grasp_15": {
|
| 650 |
+
"confidence": 0.8103435039520264,
|
| 651 |
+
"position": [
|
| 652 |
+
-0.03213445411529392,
|
| 653 |
+
0.1099645682843402,
|
| 654 |
+
0.015663591562770307
|
| 655 |
+
],
|
| 656 |
+
"orientation": {
|
| 657 |
+
"w": 0.4683598329590423,
|
| 658 |
+
"xyz": [
|
| 659 |
+
0.6380052268800722,
|
| 660 |
+
-0.33453717066799105,
|
| 661 |
+
0.5115401047676916
|
| 662 |
+
]
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"quality_check": {
|
| 669 |
+
"success": true,
|
| 670 |
+
"message": "YES"
|
| 671 |
+
}
|
| 672 |
+
}
|
dataset/bathroom_supplies/personal_care/10d3b3d1834151d6b85ae4ac2bfc0c91/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4f91ea75f287a2b268c7357447cca6be0455d3a2215f5bd068a98d9976ee81fe
|
| 3 |
+
size 3783116
|