xinjjj commited on
Commit
309936b
·
verified ·
1 Parent(s): 2404086

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