xinjjj commited on
Commit
51e8e2c
·
verified ·
1 Parent(s): bad169c

Add asset bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb

Browse files
.gitattributes CHANGED
@@ -5671,4 +5671,4 @@ dataset/bathroom_supplies/bath_products/b1d53e22d44453dbbc621edc38f1575b/afforda
5671
  dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5672
  dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5673
  dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5674
- dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5671
  dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5672
  dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5673
  dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5674
+ dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,888 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump nozzle",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the pump nozzle/head to rotate it for opening, closing, or alignment",
10
+ "confidence": 0.62
11
+ },
12
+ {
13
+ "scenario": "lightly grasp the nozzle area to reposition the dispenser head during maintenance",
14
+ "confidence": 0.34
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense liquid",
19
+ "direct outlet flow",
20
+ "rotate for pump lock/unlock",
21
+ "indicate dispensing direction"
22
+ ],
23
+ "semantic_description": "Small pump head with a white top and gold-toned spout, smooth glossy plastic surface, mounted at the very top as the dispensing outlet piece.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_21": {
27
+ "confidence": 0.8978580832481384,
28
+ "position": [
29
+ 0.018706984352320433,
30
+ 0.08585085658705793,
31
+ 0.11746354959905148
32
+ ],
33
+ "orientation": {
34
+ "w": 0.060466051014537274,
35
+ "xyz": [
36
+ -0.027369573993894617,
37
+ -0.8745479324918869,
38
+ 0.480375558150356
39
+ ]
40
+ }
41
+ },
42
+ "grasp_22": {
43
+ "confidence": 0.6946782469749451,
44
+ "position": [
45
+ 0.08121309010311961,
46
+ 0.008653949334984645,
47
+ 0.11972191743552685
48
+ ],
49
+ "orientation": {
50
+ "w": 0.34124721778238787,
51
+ "xyz": [
52
+ 0.6624780936479749,
53
+ -0.5799562969408516,
54
+ -0.3291258200612333
55
+ ]
56
+ }
57
+ },
58
+ "grasp_23": {
59
+ "confidence": 0.5163412094116211,
60
+ "position": [
61
+ 0.08209001598879695,
62
+ -0.021583978697890416,
63
+ 0.11600996367633343
64
+ ],
65
+ "orientation": {
66
+ "w": 0.2647375671884623,
67
+ "xyz": [
68
+ 0.6175733561187992,
69
+ -0.6103642311163994,
70
+ -0.4194909721376419
71
+ ]
72
+ }
73
+ },
74
+ "grasp_24": {
75
+ "confidence": 0.9433926939964294,
76
+ "position": [
77
+ -0.012835636269301176,
78
+ -0.09028193415724672,
79
+ 0.11406674049794674
80
+ ],
81
+ "orientation": {
82
+ "w": 0.4932834499477549,
83
+ "xyz": [
84
+ -0.8648762308093704,
85
+ 0.09000660560091667,
86
+ -0.02365067307325679
87
+ ]
88
+ }
89
+ },
90
+ "grasp_26": {
91
+ "confidence": 0.5916041135787964,
92
+ "position": [
93
+ 0.08326495764777064,
94
+ -0.013922570884460583,
95
+ 0.11564125679433346
96
+ ],
97
+ "orientation": {
98
+ "w": 0.309786772564967,
99
+ "xyz": [
100
+ 0.5822009242449974,
101
+ -0.6442542314092707,
102
+ -0.387312179854058
103
+ ]
104
+ }
105
+ },
106
+ "grasp_28": {
107
+ "confidence": 0.8985440731048584,
108
+ "position": [
109
+ 0.009200444910675287,
110
+ -0.04843296916806139,
111
+ 0.15393578074872494
112
+ ],
113
+ "orientation": {
114
+ "w": 0.2294724303715007,
115
+ "xyz": [
116
+ -0.9612700756280095,
117
+ 0.14129441697146944,
118
+ 0.05777657946097551
119
+ ]
120
+ }
121
+ },
122
+ "grasp_29": {
123
+ "confidence": 0.8861793875694275,
124
+ "position": [
125
+ 0.03635853482410312,
126
+ 0.07558143822825514,
127
+ 0.11252311430871487
128
+ ],
129
+ "orientation": {
130
+ "w": 0.15064471071525418,
131
+ "xyz": [
132
+ -0.09745058227664376,
133
+ -0.8546698302001214,
134
+ 0.48718480732998665
135
+ ]
136
+ }
137
+ },
138
+ "grasp_30": {
139
+ "confidence": 0.9357817769050598,
140
+ "position": [
141
+ -0.003271081019192934,
142
+ -0.018198224395746365,
143
+ 0.1582083310931921
144
+ ],
145
+ "orientation": {
146
+ "w": 0.040378280743289884,
147
+ "xyz": [
148
+ -0.9884361645616597,
149
+ -0.14563135539483762,
150
+ -0.012451961962440857
151
+ ]
152
+ }
153
+ },
154
+ "grasp_31": {
155
+ "confidence": 0.9022946357727051,
156
+ "position": [
157
+ 0.011403923388570547,
158
+ -0.05741494955145754,
159
+ 0.14837508462369442
160
+ ],
161
+ "orientation": {
162
+ "w": 0.25985064846034434,
163
+ "xyz": [
164
+ -0.9629873864649602,
165
+ -0.06482889850883944,
166
+ 0.030498326548422154
167
+ ]
168
+ }
169
+ },
170
+ "grasp_32": {
171
+ "confidence": 0.8865846991539001,
172
+ "position": [
173
+ -0.0008135433308780193,
174
+ -0.050600726768607274,
175
+ 0.1570346411317587
176
+ ],
177
+ "orientation": {
178
+ "w": 0.013085186793484483,
179
+ "xyz": [
180
+ -0.042390867205242724,
181
+ -0.9722922262160552,
182
+ -0.22952041108361948
183
+ ]
184
+ }
185
+ },
186
+ "grasp_35": {
187
+ "confidence": 0.8591862916946411,
188
+ "position": [
189
+ 0.020379362162202597,
190
+ -0.060281579062575474,
191
+ 0.14522000215947628
192
+ ],
193
+ "orientation": {
194
+ "w": 0.07882783876097124,
195
+ "xyz": [
196
+ 0.09708434772846007,
197
+ -0.9519487391931621,
198
+ -0.2795610831481443
199
+ ]
200
+ }
201
+ },
202
+ "grasp_38": {
203
+ "confidence": 0.7111093401908875,
204
+ "position": [
205
+ 0.009116835426539183,
206
+ 0.044991254195338115,
207
+ 0.15663751028478146
208
+ ],
209
+ "orientation": {
210
+ "w": 0.2524892291758368,
211
+ "xyz": [
212
+ 0.9674020461268419,
213
+ -0.006320603687517579,
214
+ -0.018507303121115107
215
+ ]
216
+ }
217
+ },
218
+ "grasp_39": {
219
+ "confidence": 0.7070004343986511,
220
+ "position": [
221
+ 0.05524331284686923,
222
+ 0.09620573310530744,
223
+ 0.06770403124392033
224
+ ],
225
+ "orientation": {
226
+ "w": 0.1815299575128975,
227
+ "xyz": [
228
+ -0.19206139852644422,
229
+ -0.6873256708950328,
230
+ 0.6765668598520955
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "pump collar",
238
+ "mask_color": "Green",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "grasp the collar to stabilize the top while turning or opening the dispenser assembly",
243
+ "confidence": 0.58
244
+ },
245
+ {
246
+ "scenario": "hold the collar during bottle repositioning when avoiding the decorated body surface",
247
+ "confidence": 0.27
248
+ }
249
+ ],
250
+ "functional_labels": [
251
+ "connect pump to bottle",
252
+ "support dispenser head",
253
+ "provide threaded closure",
254
+ "seal bottle opening"
255
+ ],
256
+ "semantic_description": "Short cylindrical gold plastic neck collar with a glossy hard finish and fine ribbed texture, sitting between the bottle body and pump head at the top.",
257
+ "id": 1,
258
+ "grasp_group": {
259
+ "grasp_1": {
260
+ "confidence": 0.9761978983879089,
261
+ "position": [
262
+ 0.03588353795930743,
263
+ 0.09366511492407881,
264
+ 0.05817186273634434
265
+ ],
266
+ "orientation": {
267
+ "w": 0.14408467477937825,
268
+ "xyz": [
269
+ -0.12349347443590454,
270
+ -0.7256132733911558,
271
+ 0.6614184346871816
272
+ ]
273
+ }
274
+ },
275
+ "grasp_2": {
276
+ "confidence": 0.9684377908706665,
277
+ "position": [
278
+ 0.0769949140958488,
279
+ 0.06151294647133909,
280
+ 0.0450040977448225
281
+ ],
282
+ "orientation": {
283
+ "w": 0.30917613865795773,
284
+ "xyz": [
285
+ -0.30225285983559436,
286
+ -0.6395692420446999,
287
+ 0.6356134899733706
288
+ ]
289
+ }
290
+ },
291
+ "grasp_4": {
292
+ "confidence": 0.9660189151763916,
293
+ "position": [
294
+ -0.010849402751773596,
295
+ 0.098380326613551,
296
+ 0.05167302303016186
297
+ ],
298
+ "orientation": {
299
+ "w": 0.05595960990971342,
300
+ "xyz": [
301
+ -0.04573997796114773,
302
+ 0.7439626365158949,
303
+ -0.6643011154161833
304
+ ]
305
+ }
306
+ },
307
+ "grasp_5": {
308
+ "confidence": 0.9660016894340515,
309
+ "position": [
310
+ -0.0013180695241317153,
311
+ 0.09999108253396116,
312
+ 0.04265814460813999
313
+ ],
314
+ "orientation": {
315
+ "w": 0.7041591997847155,
316
+ "xyz": [
317
+ 0.7098556404102982,
318
+ 0.016206371619950644,
319
+ 0.0014644641171775144
320
+ ]
321
+ }
322
+ },
323
+ "grasp_6": {
324
+ "confidence": 0.9657683372497559,
325
+ "position": [
326
+ -0.03043737867847085,
327
+ 0.09427787302411161,
328
+ 0.050259845331311226
329
+ ],
330
+ "orientation": {
331
+ "w": 0.6705327425504832,
332
+ "xyz": [
333
+ 0.7230293304804621,
334
+ 0.0823930401974945,
335
+ 0.1443115219229422
336
+ ]
337
+ }
338
+ },
339
+ "grasp_7": {
340
+ "confidence": 0.9650027751922607,
341
+ "position": [
342
+ -0.08564110519364476,
343
+ -0.04840789423906244,
344
+ 0.04496234469115734
345
+ ],
346
+ "orientation": {
347
+ "w": 0.612215412719088,
348
+ "xyz": [
349
+ -0.5918144036845053,
350
+ 0.3884029430170792,
351
+ -0.35226574326269866
352
+ ]
353
+ }
354
+ },
355
+ "grasp_8": {
356
+ "confidence": 0.9645981192588806,
357
+ "position": [
358
+ 0.0944960224442184,
359
+ 0.03095541274524294,
360
+ 0.0396854504942894
361
+ ],
362
+ "orientation": {
363
+ "w": 0.5686736070163583,
364
+ "xyz": [
365
+ 0.5790852931187721,
366
+ -0.3968219833836705,
367
+ -0.42872236410059184
368
+ ]
369
+ }
370
+ },
371
+ "grasp_9": {
372
+ "confidence": 0.9629424810409546,
373
+ "position": [
374
+ -0.05626776488497853,
375
+ -0.08274772824370302,
376
+ 0.044217148795723915
377
+ ],
378
+ "orientation": {
379
+ "w": 0.6735923734846749,
380
+ "xyz": [
381
+ -0.672149359967733,
382
+ 0.19869645807598224,
383
+ -0.23453841865738864
384
+ ]
385
+ }
386
+ },
387
+ "grasp_10": {
388
+ "confidence": 0.9626787900924683,
389
+ "position": [
390
+ 0.024809406604617834,
391
+ 0.08510918854153715,
392
+ 0.09454149566590786
393
+ ],
394
+ "orientation": {
395
+ "w": 0.5030699995127665,
396
+ "xyz": [
397
+ 0.85512687090537,
398
+ -0.09992731119150766,
399
+ -0.07545291726535186
400
+ ]
401
+ }
402
+ },
403
+ "grasp_11": {
404
+ "confidence": 0.9622963666915894,
405
+ "position": [
406
+ 0.016111533623188734,
407
+ 0.08736194609082304,
408
+ 0.09245558641850948
409
+ ],
410
+ "orientation": {
411
+ "w": 0.5162545611386865,
412
+ "xyz": [
413
+ 0.8538337221756245,
414
+ -0.01686086933452846,
415
+ -0.06453614541096223
416
+ ]
417
+ }
418
+ },
419
+ "grasp_12": {
420
+ "confidence": 0.960727870464325,
421
+ "position": [
422
+ 0.0037202597595751286,
423
+ 0.10032213418162428,
424
+ 0.04786449857056141
425
+ ],
426
+ "orientation": {
427
+ "w": 0.03096117040379339,
428
+ "xyz": [
429
+ 0.0013662578458342827,
430
+ -0.7218230559037129,
431
+ 0.6913834068247163
432
+ ]
433
+ }
434
+ },
435
+ "grasp_14": {
436
+ "confidence": 0.9573967456817627,
437
+ "position": [
438
+ 0.0015385954175144434,
439
+ 0.05319574786699377,
440
+ 0.13901633583009243
441
+ ],
442
+ "orientation": {
443
+ "w": 0.27023752915010346,
444
+ "xyz": [
445
+ 0.9615303745529744,
446
+ 0.049215176853486975,
447
+ -0.002980439253470144
448
+ ]
449
+ }
450
+ },
451
+ "grasp_15": {
452
+ "confidence": 0.9573429226875305,
453
+ "position": [
454
+ -0.05104393558576703,
455
+ -0.08545665504061617,
456
+ 0.05620458908379078
457
+ ],
458
+ "orientation": {
459
+ "w": 0.6398009174421622,
460
+ "xyz": [
461
+ -0.71025609743497,
462
+ 0.23054262974539153,
463
+ -0.18177226952066625
464
+ ]
465
+ }
466
+ },
467
+ "grasp_16": {
468
+ "confidence": 0.9569820761680603,
469
+ "position": [
470
+ 0.012767502572387457,
471
+ 0.08462747125304304,
472
+ 0.09725241176784039
473
+ ],
474
+ "orientation": {
475
+ "w": 0.509523910292651,
476
+ "xyz": [
477
+ 0.8584886064725417,
478
+ -0.0490219809347584,
479
+ -0.03129764818883581
480
+ ]
481
+ }
482
+ },
483
+ "grasp_17": {
484
+ "confidence": 0.9569061994552612,
485
+ "position": [
486
+ 0.058524377178400755,
487
+ 0.08011396913207136,
488
+ 0.04596131853759289
489
+ ],
490
+ "orientation": {
491
+ "w": 0.6677371339080352,
492
+ "xyz": [
493
+ 0.6711952226527438,
494
+ -0.21460178068322544,
495
+ -0.23993784365123563
496
+ ]
497
+ }
498
+ },
499
+ "grasp_18": {
500
+ "confidence": 0.956764817237854,
501
+ "position": [
502
+ 0.011331962887197733,
503
+ 0.08428778438246809,
504
+ 0.09929180704057217
505
+ ],
506
+ "orientation": {
507
+ "w": 0.5059249905938419,
508
+ "xyz": [
509
+ 0.861714319721644,
510
+ -0.004094930175759348,
511
+ -0.03836100397722165
512
+ ]
513
+ }
514
+ },
515
+ "grasp_19": {
516
+ "confidence": 0.9557124376296997,
517
+ "position": [
518
+ 0.09188228426501155,
519
+ 0.03769473670399748,
520
+ 0.05172027088701725
521
+ ],
522
+ "orientation": {
523
+ "w": 0.3937830176375814,
524
+ "xyz": [
525
+ -0.39142808392570677,
526
+ -0.6028484843359891,
527
+ 0.572968319428126
528
+ ]
529
+ }
530
+ }
531
+ }
532
+ },
533
+ {
534
+ "part_name": "bottle body",
535
+ "mask_color": "Purple",
536
+ "graspable": true,
537
+ "grasp_scenarios": [
538
+ {
539
+ "scenario": "grasp the bottle body to pick up and move the sanitizer",
540
+ "confidence": 0.95
541
+ },
542
+ {
543
+ "scenario": "hold the body steady while pressing the pump with another manipulator",
544
+ "confidence": 0.91
545
+ },
546
+ {
547
+ "scenario": "grasp the body to rotate and orient the bottle for placement",
548
+ "confidence": 0.88
549
+ }
550
+ ],
551
+ "functional_labels": [
552
+ "contain sanitizer",
553
+ "main grasp surface",
554
+ "support pumping",
555
+ "provide stable standing base",
556
+ "display branding and decoration"
557
+ ],
558
+ "semantic_description": "Medium-sized curved cream-gold plastic bottle with a glossy smooth hard surface, rounded sides, floral embossed decoration, and black printed text on the front, forming the main container body.",
559
+ "id": 5,
560
+ "grasp_group": {
561
+ "grasp_40": {
562
+ "confidence": 0.9908479452133179,
563
+ "position": [
564
+ -0.0027056580875068903,
565
+ -0.10249415101134218,
566
+ -0.021743236109614372
567
+ ],
568
+ "orientation": {
569
+ "w": 0.7080197955930397,
570
+ "xyz": [
571
+ -0.7058607153774504,
572
+ 0.007272277877730882,
573
+ -0.020389544126663394
574
+ ]
575
+ }
576
+ },
577
+ "grasp_41": {
578
+ "confidence": 0.9905755519866943,
579
+ "position": [
580
+ 0.0020351968705654144,
581
+ -0.10288676680647768,
582
+ -0.02155257575213909
583
+ ],
584
+ "orientation": {
585
+ "w": 0.706973670490758,
586
+ "xyz": [
587
+ -0.7071165607782911,
588
+ -0.011286911151779044,
589
+ -0.00685597130668455
590
+ ]
591
+ }
592
+ },
593
+ "grasp_42": {
594
+ "confidence": 0.9905142784118652,
595
+ "position": [
596
+ 0.003161794738844037,
597
+ -0.10331624062382616,
598
+ -0.012537200003862381
599
+ ],
600
+ "orientation": {
601
+ "w": 0.7066683877553835,
602
+ "xyz": [
603
+ -0.7073116970891837,
604
+ -0.016372338988644985,
605
+ 0.007867618703687901
606
+ ]
607
+ }
608
+ },
609
+ "grasp_43": {
610
+ "confidence": 0.9902689456939697,
611
+ "position": [
612
+ 0.0054555959068238735,
613
+ -0.10419810624443926,
614
+ -0.01712619885802269
615
+ ],
616
+ "orientation": {
617
+ "w": 0.7040271409173329,
618
+ "xyz": [
619
+ -0.7094053098774158,
620
+ -0.031291114298468425,
621
+ 0.010524131102087088
622
+ ]
623
+ }
624
+ },
625
+ "grasp_44": {
626
+ "confidence": 0.9902386665344238,
627
+ "position": [
628
+ -0.004573171958327293,
629
+ -0.10366632105433382,
630
+ -0.00894586555659771
631
+ ],
632
+ "orientation": {
633
+ "w": 0.7067168448860134,
634
+ "xyz": [
635
+ -0.7070636510818292,
636
+ 0.010223611188141746,
637
+ -0.02253380233039211
638
+ ]
639
+ }
640
+ },
641
+ "grasp_45": {
642
+ "confidence": 0.9900711178779602,
643
+ "position": [
644
+ -0.008577597793191671,
645
+ -0.10462205918156542,
646
+ -0.023531274870038033
647
+ ],
648
+ "orientation": {
649
+ "w": 0.7093007219009938,
650
+ "xyz": [
651
+ -0.703165050761556,
652
+ 0.028006971921964885,
653
+ -0.040828994868720804
654
+ ]
655
+ }
656
+ },
657
+ "grasp_46": {
658
+ "confidence": 0.9899629950523376,
659
+ "position": [
660
+ 0.0007564451079815626,
661
+ -0.10223877491080202,
662
+ -0.0297070425003767
663
+ ],
664
+ "orientation": {
665
+ "w": 0.7405087341415699,
666
+ "xyz": [
667
+ -0.6720359235171659,
668
+ -0.0032634259200552407,
669
+ -0.001970333409148754
670
+ ]
671
+ }
672
+ },
673
+ "grasp_47": {
674
+ "confidence": 0.9897504448890686,
675
+ "position": [
676
+ 0.011317151132971048,
677
+ -0.10367449434124865,
678
+ -0.024618593975901604
679
+ ],
680
+ "orientation": {
681
+ "w": 0.7077633834057019,
682
+ "xyz": [
683
+ -0.7043618090620885,
684
+ -0.042942324522242004,
685
+ 0.033187223588633755
686
+ ]
687
+ }
688
+ },
689
+ "grasp_48": {
690
+ "confidence": 0.9896976351737976,
691
+ "position": [
692
+ 0.01276101404801011,
693
+ -0.1037356263550464,
694
+ -0.019141916185617447
695
+ ],
696
+ "orientation": {
697
+ "w": 0.707321808808185,
698
+ "xyz": [
699
+ -0.7036065738341738,
700
+ -0.055913766863888714,
701
+ 0.03882394514656833
702
+ ]
703
+ }
704
+ },
705
+ "grasp_49": {
706
+ "confidence": 0.9896613359451294,
707
+ "position": [
708
+ -0.024582637939602137,
709
+ 0.10031405030167662,
710
+ -0.005256013013422489
711
+ ],
712
+ "orientation": {
713
+ "w": 0.07879088366367169,
714
+ "xyz": [
715
+ -0.10252464400637885,
716
+ 0.708534583007295,
717
+ -0.6937286491889623
718
+ ]
719
+ }
720
+ },
721
+ "grasp_50": {
722
+ "confidence": 0.9896469712257385,
723
+ "position": [
724
+ 0.0003255617921240628,
725
+ -0.10675583840929903,
726
+ -0.011369401589035988
727
+ ],
728
+ "orientation": {
729
+ "w": 0.7122890714162257,
730
+ "xyz": [
731
+ -0.7018674845488156,
732
+ -0.0022077261978828977,
733
+ -0.00463020724856745
734
+ ]
735
+ }
736
+ },
737
+ "grasp_51": {
738
+ "confidence": 0.9895792603492737,
739
+ "position": [
740
+ -0.023409415502101183,
741
+ -0.10038001151406206,
742
+ -0.024968499317765236
743
+ ],
744
+ "orientation": {
745
+ "w": 0.7233694888660036,
746
+ "xyz": [
747
+ -0.6784502337467736,
748
+ 0.06289715550804986,
749
+ -0.11173992453765542
750
+ ]
751
+ }
752
+ },
753
+ "grasp_52": {
754
+ "confidence": 0.9895777702331543,
755
+ "position": [
756
+ -0.01760020712390542,
757
+ -0.10110718818032183,
758
+ -0.008370282128453255
759
+ ],
760
+ "orientation": {
761
+ "w": 0.7082054302235723,
762
+ "xyz": [
763
+ -0.7005256464606255,
764
+ 0.061113764198690856,
765
+ -0.06303963101283569
766
+ ]
767
+ }
768
+ },
769
+ "grasp_53": {
770
+ "confidence": 0.9895552396774292,
771
+ "position": [
772
+ 0.03493921784684062,
773
+ -0.1006150847824756,
774
+ -0.00530182383954525
775
+ ],
776
+ "orientation": {
777
+ "w": 0.6868564308728382,
778
+ "xyz": [
779
+ -0.7059726983499117,
780
+ -0.12749121576351674,
781
+ 0.1165194509784171
782
+ ]
783
+ }
784
+ },
785
+ "grasp_54": {
786
+ "confidence": 0.9895374774932861,
787
+ "position": [
788
+ -0.03528592409566045,
789
+ 0.10001455186284147,
790
+ -0.0014628153294324875
791
+ ],
792
+ "orientation": {
793
+ "w": 0.10232681647848196,
794
+ "xyz": [
795
+ -0.14087851706380503,
796
+ 0.7104133770520158,
797
+ -0.6819056384609475
798
+ ]
799
+ }
800
+ },
801
+ "grasp_55": {
802
+ "confidence": 0.9895349144935608,
803
+ "position": [
804
+ 0.008894053753465414,
805
+ -0.1042018985899631,
806
+ -0.0011006388813257217
807
+ ],
808
+ "orientation": {
809
+ "w": 0.7028983774643354,
810
+ "xyz": [
811
+ -0.7102164987457548,
812
+ -0.027556364454220383,
813
+ 0.027695534755495584
814
+ ]
815
+ }
816
+ },
817
+ "grasp_56": {
818
+ "confidence": 0.9894635677337646,
819
+ "position": [
820
+ -0.004874471575021744,
821
+ -0.10209487439715303,
822
+ -0.025163235142827034
823
+ ],
824
+ "orientation": {
825
+ "w": 0.7102016572259573,
826
+ "xyz": [
827
+ -0.703394583416725,
828
+ -0.000947412238814116,
829
+ -0.029133631829308174
830
+ ]
831
+ }
832
+ },
833
+ "grasp_57": {
834
+ "confidence": 0.9893966317176819,
835
+ "position": [
836
+ 0.047109782230108976,
837
+ -0.09496096582734026,
838
+ -0.013541080057621002
839
+ ],
840
+ "orientation": {
841
+ "w": 0.68246502378733,
842
+ "xyz": [
843
+ -0.6917248466606659,
844
+ -0.16484066231551897,
845
+ 0.16907330914907578
846
+ ]
847
+ }
848
+ },
849
+ "grasp_58": {
850
+ "confidence": 0.9888633489608765,
851
+ "position": [
852
+ 0.010847889352589846,
853
+ -0.10625486882054247,
854
+ 0.0004734797403216362
855
+ ],
856
+ "orientation": {
857
+ "w": 0.6985258252731112,
858
+ "xyz": [
859
+ -0.7138668414605914,
860
+ -0.03869783867704024,
861
+ 0.0309561200948012
862
+ ]
863
+ }
864
+ },
865
+ "grasp_59": {
866
+ "confidence": 0.9886316657066345,
867
+ "position": [
868
+ 0.0001837526506278664,
869
+ -0.1067067614349071,
870
+ -0.01972082071006298
871
+ ],
872
+ "orientation": {
873
+ "w": 0.7049279757732626,
874
+ "xyz": [
875
+ -0.7092657482439235,
876
+ -0.003002727954629192,
877
+ 0.003103379613958577
878
+ ]
879
+ }
880
+ }
881
+ }
882
+ }
883
+ ],
884
+ "quality_check": {
885
+ "success": true,
886
+ "message": "YES"
887
+ }
888
+ }
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:095b4f1b69466d1086608648b5b7ad8985cd50d57d11ebc29ba0b3b5488dc9e4
3
+ size 3770228
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/hand_sanitizer_016.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>