Add asset bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf
Browse files
dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,396 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body from the sides to pick up and move the dispenser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the bottle by clamping the body for placement or inspection",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support the pump assembly",
|
| 25 |
+
"stabilize during dispensing",
|
| 26 |
+
"stand upright on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large dark gray to black plastic bottle with a smooth semi-gloss finish, tapered rectangular shape, flat base, and white printed logo/text on the front face.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9865809679031372,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0028086764505133033,
|
| 35 |
+
0.11236892995657399,
|
| 36 |
+
-0.004256455227732658
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.0015095028683703377,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.0007107768984348786,
|
| 42 |
+
-0.7140253992415349,
|
| 43 |
+
0.7001178082546238
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9863205552101135,
|
| 49 |
+
"position": [
|
| 50 |
+
0.0023983869468793273,
|
| 51 |
+
0.1122083475929685,
|
| 52 |
+
-0.01882096379995346
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.0030120997185139587,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.003491818157823182,
|
| 58 |
+
-0.7148089000697149,
|
| 59 |
+
0.6993046337915712
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9851287603378296,
|
| 65 |
+
"position": [
|
| 66 |
+
0.004991766880266368,
|
| 67 |
+
0.11000755784334615,
|
| 68 |
+
-0.01967688836157322
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.008202297295764696,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.005402469753765665,
|
| 74 |
+
-0.7113240857264619,
|
| 75 |
+
0.7027955468733745
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9845225811004639,
|
| 81 |
+
"position": [
|
| 82 |
+
0.001178419217467308,
|
| 83 |
+
0.11075750348391011,
|
| 84 |
+
-0.013036169111728668
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.012607792713674255,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.007651468426453049,
|
| 90 |
+
-0.7158447181911334,
|
| 91 |
+
0.6981037444618566
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9842246770858765,
|
| 97 |
+
"position": [
|
| 98 |
+
0.00446398404892534,
|
| 99 |
+
0.11036644486011937,
|
| 100 |
+
-0.021165473386645317
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.0015232118746153413,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.0013588900091433627,
|
| 106 |
+
-0.7131256992447277,
|
| 107 |
+
0.701033216274555
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.982163667678833,
|
| 113 |
+
"position": [
|
| 114 |
+
0.0028031052788719535,
|
| 115 |
+
0.11088060197653249,
|
| 116 |
+
-0.025875097140669823
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.01003434853560023,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.004265492291863474,
|
| 122 |
+
-0.7100734485380062,
|
| 123 |
+
0.7040431912221848
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9816872477531433,
|
| 129 |
+
"position": [
|
| 130 |
+
0.0022152805468067527,
|
| 131 |
+
0.11129743215860799,
|
| 132 |
+
-0.026361925527453423
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.0147245132510423,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.006747581864678232,
|
| 138 |
+
-0.7081601345360107,
|
| 139 |
+
0.7058660515299198
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9816237688064575,
|
| 145 |
+
"position": [
|
| 146 |
+
0.004430553293786943,
|
| 147 |
+
-0.11340769025264308,
|
| 148 |
+
0.00572544801980257
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.004678068879892338,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.0017646035286262435,
|
| 154 |
+
-0.7770861807861054,
|
| 155 |
+
-0.6293743476478892
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.980873167514801,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.0013949834974482656,
|
| 163 |
+
0.11392953601898625,
|
| 164 |
+
-0.004112573340535164
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7073965002759902,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.706440755802572,
|
| 170 |
+
-0.002078672571777851,
|
| 171 |
+
0.022963646459382238
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9808697700500488,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.0023839810164645314,
|
| 179 |
+
0.115742314432282,
|
| 180 |
+
-0.010154206305742264
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.6969571032936307,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.7170280609850961,
|
| 186 |
+
0.005543204290270443,
|
| 187 |
+
0.009530415242860978
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9801521897315979,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.00045005473657511175,
|
| 195 |
+
0.11465121415676549,
|
| 196 |
+
-0.014881789684295654
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.702683219877932,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.711462576021646,
|
| 202 |
+
0.007018817998032834,
|
| 203 |
+
0.002834010680240791
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9800175428390503,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.00024373840278713033,
|
| 211 |
+
-0.11403312179027125,
|
| 212 |
+
-0.006056789308786392
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6757208665786936,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.7369810064797173,
|
| 218 |
+
0.0024784415705881857,
|
| 219 |
+
-0.01594251817196454
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9799638390541077,
|
| 225 |
+
"position": [
|
| 226 |
+
0.0011761460918933153,
|
| 227 |
+
0.11269413289846852,
|
| 228 |
+
-0.0115016158670187
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.7134209943593218,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.7006827001801771,
|
| 234 |
+
0.006441558473236797,
|
| 235 |
+
0.005722307227680706
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9799081683158875,
|
| 241 |
+
"position": [
|
| 242 |
+
0.0008955423254519701,
|
| 243 |
+
0.11269337293924764,
|
| 244 |
+
-0.029845738783478737
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.7537229682221225,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.6568667868298317,
|
| 250 |
+
-0.015063368397277288,
|
| 251 |
+
0.01417061984575753
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9796119332313538,
|
| 257 |
+
"position": [
|
| 258 |
+
0.0017771671991795301,
|
| 259 |
+
-0.10430643352447078,
|
| 260 |
+
0.03879920765757561
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.0022392694510742304,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.0001504369881944178,
|
| 266 |
+
0.8685535369644165,
|
| 267 |
+
0.495590270755631
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9795677661895752,
|
| 273 |
+
"position": [
|
| 274 |
+
0.0005720038316212595,
|
| 275 |
+
0.11295831558527425,
|
| 276 |
+
-0.010483155027031898
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.7047366883462104,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.7093416296113059,
|
| 282 |
+
0.006631717376489044,
|
| 283 |
+
0.0116907195600628
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9794122576713562,
|
| 289 |
+
"position": [
|
| 290 |
+
0.002879093517549336,
|
| 291 |
+
0.10956942645134404,
|
| 292 |
+
0.009284056723117828
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.021914354774663487,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.011815212148034878,
|
| 298 |
+
-0.7640217268309011,
|
| 299 |
+
0.6447099834398683
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.979030191898346,
|
| 305 |
+
"position": [
|
| 306 |
+
0.001395678729750216,
|
| 307 |
+
0.11194788274588063,
|
| 308 |
+
-0.00727352499961853
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.6985280314241717,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.7153067182748537,
|
| 314 |
+
-0.00350039527991608,
|
| 315 |
+
0.019561066903799867
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9789984822273254,
|
| 321 |
+
"position": [
|
| 322 |
+
0.0029090085299685597,
|
| 323 |
+
-0.11595273407874629,
|
| 324 |
+
-0.015815837308764458
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.701247144516825,
|
| 328 |
+
"xyz": [
|
| 329 |
+
-0.7128925057458031,
|
| 330 |
+
-0.002558586290809073,
|
| 331 |
+
-0.00549283120637973
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.978882372379303,
|
| 337 |
+
"position": [
|
| 338 |
+
-0.0008698574383743107,
|
| 339 |
+
0.11123667267384008,
|
| 340 |
+
-0.001423676498234272
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.7014751418976648,
|
| 344 |
+
"xyz": [
|
| 345 |
+
0.7125815212906969,
|
| 346 |
+
0.007498999790661931,
|
| 347 |
+
0.010196362921496534
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "pump collar",
|
| 355 |
+
"mask_color": "Pink",
|
| 356 |
+
"graspable": true,
|
| 357 |
+
"grasp_scenarios": [
|
| 358 |
+
{
|
| 359 |
+
"scenario": "grasp the collar to twist or unscrew the pump assembly for maintenance or refilling",
|
| 360 |
+
"confidence": 0.56
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"scenario": "pinch the collar to stabilize the pump area during manipulation",
|
| 364 |
+
"confidence": 0.43
|
| 365 |
+
}
|
| 366 |
+
],
|
| 367 |
+
"functional_labels": [
|
| 368 |
+
"connect pump to bottle",
|
| 369 |
+
"seal the bottle opening",
|
| 370 |
+
"support the dispenser head",
|
| 371 |
+
"enable pump assembly attachment"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Short dark cylindrical plastic collar beneath the pump head, with a smooth slightly glossy surface and ring-like form around the bottle opening.",
|
| 374 |
+
"id": 8,
|
| 375 |
+
"grasp_group": {}
|
| 376 |
+
},
|
| 377 |
+
{
|
| 378 |
+
"part_name": "pump neck",
|
| 379 |
+
"mask_color": "Purple",
|
| 380 |
+
"graspable": false,
|
| 381 |
+
"grasp_scenarios": [],
|
| 382 |
+
"functional_labels": [
|
| 383 |
+
"connect dispenser head to collar",
|
| 384 |
+
"guide pump motion",
|
| 385 |
+
"transfer actuation force"
|
| 386 |
+
],
|
| 387 |
+
"semantic_description": "Small narrow dark plastic ring/neck segment between the pump head and the collar, smooth and slightly glossy, positioned centrally at the top of the bottle.",
|
| 388 |
+
"id": 5,
|
| 389 |
+
"grasp_group": {}
|
| 390 |
+
}
|
| 391 |
+
],
|
| 392 |
+
"quality_check": {
|
| 393 |
+
"success": false,
|
| 394 |
+
"message": "Missing top pump head/spout part; annotation incomplete for segmented mask colors and visible physical part."
|
| 395 |
+
}
|
| 396 |
+
}
|
dataset/bathroom_supplies/bath_products/0a45e164e00c541caaca30663869edaf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72325f4bf5224c5922baea54483deb520dd65f75a82610c07a6dce54fd3214e5
|
| 3 |
+
size 37315508
|