xinjjj commited on
Commit
650a8a2
·
verified ·
1 Parent(s): 64de2bd

Add asset bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08

Browse files
.gitattributes CHANGED
@@ -5604,4 +5604,4 @@ dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/afforda
5604
  dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5605
  dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5606
  dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5607
- dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5604
  dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5605
  dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5606
  dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5607
+ dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/affordance/affordance_annot.json ADDED
@@ -0,0 +1,828 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and move the shampoo bottle",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body while pressing the pump",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "grasp the bottle body to orient the dispenser toward a target hand or surface",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain shampoo",
23
+ "main grasp surface",
24
+ "support dispensing",
25
+ "provide structural enclosure",
26
+ "stabilize the bottle upright"
27
+ ],
28
+ "semantic_description": "Large brown plastic bottle body with a glossy smooth hard surface, rounded rectangular tapered shape, occupying most of the object below the neck, with white printed logo and curved line graphics on the front.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.6542672514915466,
33
+ "position": [
34
+ 0.0012618557375390083,
35
+ 0.0009730009878694545,
36
+ -0.17613467387855053
37
+ ],
38
+ "orientation": {
39
+ "w": 0.9937425059758457,
40
+ "xyz": [
41
+ -0.006180018298039366,
42
+ 0.00450901521085878,
43
+ 0.11143297524750366
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.6518574953079224,
49
+ "position": [
50
+ 0.06120957309030928,
51
+ -0.09320136056703632,
52
+ -0.073809077963233
53
+ ],
54
+ "orientation": {
55
+ "w": 0.19503074600530707,
56
+ "xyz": [
57
+ 0.19055147630468952,
58
+ -0.6721532757088148,
59
+ -0.688377161841259
60
+ ]
61
+ }
62
+ },
63
+ "grasp_5": {
64
+ "confidence": 0.63847815990448,
65
+ "position": [
66
+ 0.0366225155594293,
67
+ -0.1041276668147475,
68
+ -0.07917818985879421
69
+ ],
70
+ "orientation": {
71
+ "w": 0.7036740976782899,
72
+ "xyz": [
73
+ -0.6937070552204729,
74
+ -0.10051603213999616,
75
+ 0.11623172147402565
76
+ ]
77
+ }
78
+ },
79
+ "grasp_8": {
80
+ "confidence": 0.6237844228744507,
81
+ "position": [
82
+ 0.0041233393421862274,
83
+ -0.0030276047946244944,
84
+ -0.1689074318856001
85
+ ],
86
+ "orientation": {
87
+ "w": 0.9902211765985793,
88
+ "xyz": [
89
+ -0.004923342695388315,
90
+ 0.01703328705554885,
91
+ 0.13837503114547614
92
+ ]
93
+ }
94
+ },
95
+ "grasp_12": {
96
+ "confidence": 0.6148604154586792,
97
+ "position": [
98
+ 0.0019104435632470995,
99
+ -0.003352112737047719,
100
+ -0.17158067040145397
101
+ ],
102
+ "orientation": {
103
+ "w": 0.21634360680434145,
104
+ "xyz": [
105
+ -0.005368811158494951,
106
+ -0.009160873361331645,
107
+ -0.976259544414747
108
+ ]
109
+ }
110
+ },
111
+ "grasp_13": {
112
+ "confidence": 0.6144681572914124,
113
+ "position": [
114
+ -0.019860898464685306,
115
+ -0.09952274606985156,
116
+ -0.11847457103431225
117
+ ],
118
+ "orientation": {
119
+ "w": 0.8545315862575271,
120
+ "xyz": [
121
+ -0.5078798433662265,
122
+ 0.0722741440135648,
123
+ -0.08130363397535058
124
+ ]
125
+ }
126
+ },
127
+ "grasp_16": {
128
+ "confidence": 0.6099011898040771,
129
+ "position": [
130
+ -0.014812797628110275,
131
+ -0.11317100272935932,
132
+ -0.0785007681697607
133
+ ],
134
+ "orientation": {
135
+ "w": 0.06014192822664312,
136
+ "xyz": [
137
+ 0.059849442018586926,
138
+ 0.6990110670386801,
139
+ 0.7100595192775682
140
+ ]
141
+ }
142
+ }
143
+ }
144
+ },
145
+ {
146
+ "part_name": "pump collar",
147
+ "mask_color": "Green",
148
+ "graspable": true,
149
+ "grasp_scenarios": [
150
+ {
151
+ "scenario": "grasp the neck area to stabilize the bottle during transport",
152
+ "confidence": 0.52
153
+ },
154
+ {
155
+ "scenario": "hold the collar while repositioning or twisting the dispenser assembly",
156
+ "confidence": 0.47
157
+ }
158
+ ],
159
+ "functional_labels": [
160
+ "connect pump to bottle",
161
+ "seal the bottle opening",
162
+ "support the pump head",
163
+ "provide neck structure"
164
+ ],
165
+ "semantic_description": "Short cylindrical brown plastic collar at the bottle top with a smooth slightly glossy hard surface, smaller than the body and serving as the mounting neck for the pump.",
166
+ "id": 1,
167
+ "grasp_group": {
168
+ "grasp_20": {
169
+ "confidence": 0.9392081499099731,
170
+ "position": [
171
+ 0.03793644407414831,
172
+ 0.10004530204969342,
173
+ 0.1068823579698801
174
+ ],
175
+ "orientation": {
176
+ "w": 0.6919084470007588,
177
+ "xyz": [
178
+ 0.7000163595451233,
179
+ -0.11657832843673854,
180
+ -0.13285063295704067
181
+ ]
182
+ }
183
+ },
184
+ "grasp_21": {
185
+ "confidence": 0.938110888004303,
186
+ "position": [
187
+ 0.0406629505159799,
188
+ 0.09612606568771298,
189
+ 0.1076651681214571
190
+ ],
191
+ "orientation": {
192
+ "w": 0.1183148996071352,
193
+ "xyz": [
194
+ -0.156911365888856,
195
+ -0.6924357047617277,
196
+ 0.6941996849300465
197
+ ]
198
+ }
199
+ },
200
+ "grasp_22": {
201
+ "confidence": 0.927824079990387,
202
+ "position": [
203
+ 0.02981574894511141,
204
+ 0.10165415807205136,
205
+ 0.10406330414116383
206
+ ],
207
+ "orientation": {
208
+ "w": 0.08521434219371701,
209
+ "xyz": [
210
+ -0.1141865319441051,
211
+ -0.7042693830076135,
212
+ 0.6954887403582796
213
+ ]
214
+ }
215
+ },
216
+ "grasp_23": {
217
+ "confidence": 0.9201204776763916,
218
+ "position": [
219
+ 0.048074937105411664,
220
+ 0.08627701653676922,
221
+ 0.11638197489082813
222
+ ],
223
+ "orientation": {
224
+ "w": 0.6499138084618435,
225
+ "xyz": [
226
+ 0.7174997651991597,
227
+ -0.18757050154202537,
228
+ -0.16620299474150843
229
+ ]
230
+ }
231
+ },
232
+ "grasp_24": {
233
+ "confidence": 0.9179022908210754,
234
+ "position": [
235
+ -0.01340831010020338,
236
+ 0.10180933131414349,
237
+ 0.10651733912527561
238
+ ],
239
+ "orientation": {
240
+ "w": 0.05838916832659719,
241
+ "xyz": [
242
+ -0.04196430544540357,
243
+ 0.7041616808428919,
244
+ -0.7063894317748013
245
+ ]
246
+ }
247
+ },
248
+ "grasp_25": {
249
+ "confidence": 0.9118258357048035,
250
+ "position": [
251
+ -0.035050780832534656,
252
+ 0.09646241469818051,
253
+ 0.10323777981102467
254
+ ],
255
+ "orientation": {
256
+ "w": 0.696950227399074,
257
+ "xyz": [
258
+ 0.692315964659537,
259
+ 0.1413933003697384,
260
+ 0.1223393649504006
261
+ ]
262
+ }
263
+ },
264
+ "grasp_26": {
265
+ "confidence": 0.9056466221809387,
266
+ "position": [
267
+ 0.03922680640243925,
268
+ 0.09565599365669186,
269
+ 0.09809702076017857
270
+ ],
271
+ "orientation": {
272
+ "w": 0.694371844701669,
273
+ "xyz": [
274
+ 0.6985006880326131,
275
+ -0.10138736644407143,
276
+ -0.1402324214620248
277
+ ]
278
+ }
279
+ },
280
+ "grasp_27": {
281
+ "confidence": 0.8996061682701111,
282
+ "position": [
283
+ 0.038413676113123074,
284
+ 0.0948023657365411,
285
+ 0.10059312917292118
286
+ ],
287
+ "orientation": {
288
+ "w": 0.12606824202634623,
289
+ "xyz": [
290
+ -0.15020894175641122,
291
+ -0.6947527482623866,
292
+ 0.6919990541544594
293
+ ]
294
+ }
295
+ },
296
+ "grasp_28": {
297
+ "confidence": 0.8948987126350403,
298
+ "position": [
299
+ 0.04410953322076239,
300
+ 0.08976206286388333,
301
+ 0.10656251199543476
302
+ ],
303
+ "orientation": {
304
+ "w": 0.1598133132248288,
305
+ "xyz": [
306
+ -0.18711840168953553,
307
+ -0.6910699630977435,
308
+ 0.6796092368187323
309
+ ]
310
+ }
311
+ },
312
+ "grasp_29": {
313
+ "confidence": 0.8912650346755981,
314
+ "position": [
315
+ -0.017097124218707904,
316
+ 0.09316130830484326,
317
+ 0.1425634492188692
318
+ ],
319
+ "orientation": {
320
+ "w": 0.06901931197926398,
321
+ "xyz": [
322
+ -0.054549030522608045,
323
+ 0.84514092007849,
324
+ -0.5272547420856791
325
+ ]
326
+ }
327
+ },
328
+ "grasp_30": {
329
+ "confidence": 0.8885234594345093,
330
+ "position": [
331
+ 0.05392722287797369,
332
+ 0.08849655194717343,
333
+ 0.09821661747992039
334
+ ],
335
+ "orientation": {
336
+ "w": 0.6710996829388953,
337
+ "xyz": [
338
+ 0.6934354961797441,
339
+ -0.17438695330576126,
340
+ -0.19586122309941864
341
+ ]
342
+ }
343
+ },
344
+ "grasp_31": {
345
+ "confidence": 0.8871109485626221,
346
+ "position": [
347
+ 0.039994946360820904,
348
+ 0.09763829513030942,
349
+ 0.0941735077649355
350
+ ],
351
+ "orientation": {
352
+ "w": 0.11711416272837985,
353
+ "xyz": [
354
+ -0.15032022949835458,
355
+ -0.6990311324895901,
356
+ 0.6892340511773297
357
+ ]
358
+ }
359
+ },
360
+ "grasp_32": {
361
+ "confidence": 0.8828715085983276,
362
+ "position": [
363
+ -0.10013213878846727,
364
+ -0.01807771147650783,
365
+ 0.10321616567671299
366
+ ],
367
+ "orientation": {
368
+ "w": 0.4659166510142496,
369
+ "xyz": [
370
+ 0.4495528639787897,
371
+ 0.5340470236833852,
372
+ 0.5437073415828154
373
+ ]
374
+ }
375
+ },
376
+ "grasp_33": {
377
+ "confidence": 0.8801155090332031,
378
+ "position": [
379
+ -0.04426378509378992,
380
+ 0.08927539838987286,
381
+ 0.10715028829872608
382
+ ],
383
+ "orientation": {
384
+ "w": 0.16712063700224422,
385
+ "xyz": [
386
+ -0.14273361730614545,
387
+ 0.7061843801159039,
388
+ -0.6730538079967924
389
+ ]
390
+ }
391
+ },
392
+ "grasp_34": {
393
+ "confidence": 0.878119707107544,
394
+ "position": [
395
+ 0.054502005368703976,
396
+ 0.08576709135013516,
397
+ 0.0996279064565897
398
+ ],
399
+ "orientation": {
400
+ "w": 0.6723647341852084,
401
+ "xyz": [
402
+ 0.688072212864777,
403
+ -0.18049771196613562,
404
+ -0.2047019054195962
405
+ ]
406
+ }
407
+ },
408
+ "grasp_35": {
409
+ "confidence": 0.8752619028091431,
410
+ "position": [
411
+ 0.05706171938800253,
412
+ 0.08767589284616406,
413
+ 0.09505102969706059
414
+ ],
415
+ "orientation": {
416
+ "w": 0.6680536315823847,
417
+ "xyz": [
418
+ 0.6957336450045504,
419
+ -0.1698065153456203,
420
+ -0.20205144860764304
421
+ ]
422
+ }
423
+ },
424
+ "grasp_36": {
425
+ "confidence": 0.8730870485305786,
426
+ "position": [
427
+ 0.0852510693075601,
428
+ 0.0564386296136945,
429
+ 0.10800407268106937
430
+ ],
431
+ "orientation": {
432
+ "w": 0.6070128796582583,
433
+ "xyz": [
434
+ 0.6432557571325684,
435
+ -0.328824994920382,
436
+ -0.3311065048596992
437
+ ]
438
+ }
439
+ },
440
+ "grasp_37": {
441
+ "confidence": 0.8710468411445618,
442
+ "position": [
443
+ 0.09765286618494429,
444
+ 0.027337822230038,
445
+ 0.1100779790431261
446
+ ],
447
+ "orientation": {
448
+ "w": 0.5470552985075651,
449
+ "xyz": [
450
+ 0.5860936141432659,
451
+ -0.4160533977865293,
452
+ -0.42909712889457446
453
+ ]
454
+ }
455
+ },
456
+ "grasp_38": {
457
+ "confidence": 0.8705968260765076,
458
+ "position": [
459
+ -0.08659893399453722,
460
+ 0.03480325369673665,
461
+ 0.1249495092779398
462
+ ],
463
+ "orientation": {
464
+ "w": 0.5341253170366514,
465
+ "xyz": [
466
+ 0.6397490431513252,
467
+ 0.4343284001390003,
468
+ 0.3417457363598795
469
+ ]
470
+ }
471
+ },
472
+ "grasp_39": {
473
+ "confidence": 0.8704163432121277,
474
+ "position": [
475
+ 0.08119960004114546,
476
+ 0.04627005858856137,
477
+ 0.13411968387663364
478
+ ],
479
+ "orientation": {
480
+ "w": 0.5234926921200612,
481
+ "xyz": [
482
+ 0.6925990056726001,
483
+ -0.40158139326076725,
484
+ -0.2915379961942484
485
+ ]
486
+ }
487
+ }
488
+ }
489
+ },
490
+ {
491
+ "part_name": "pump head",
492
+ "mask_color": "Blue",
493
+ "graspable": true,
494
+ "grasp_scenarios": [
495
+ {
496
+ "scenario": "delicately grasp the pump head to rotate or unlock it",
497
+ "confidence": 0.58
498
+ },
499
+ {
500
+ "scenario": "pinch the pump head to aim the nozzle orientation",
501
+ "confidence": 0.49
502
+ },
503
+ {
504
+ "scenario": "grasp the pump head to lift the bottle in a careful low-load manipulation",
505
+ "confidence": 0.18
506
+ }
507
+ ],
508
+ "functional_labels": [
509
+ "dispense shampoo",
510
+ "press to actuate pump",
511
+ "direct liquid flow",
512
+ "indicate dispensing direction"
513
+ ],
514
+ "semantic_description": "Curved brown plastic pump head with a smooth glossy hard surface, including a short spout-like top piece above the collar, sized small relative to the bottle and shaped for downward pressing.",
515
+ "id": 2,
516
+ "grasp_group": {
517
+ "grasp_40": {
518
+ "confidence": 0.9613744020462036,
519
+ "position": [
520
+ 0.031798961252206936,
521
+ 0.09170657499271329,
522
+ 0.14414271898567677
523
+ ],
524
+ "orientation": {
525
+ "w": 0.6211962467314515,
526
+ "xyz": [
527
+ 0.7709178736212484,
528
+ -0.09964100066258774,
529
+ -0.09936058657741674
530
+ ]
531
+ }
532
+ },
533
+ "grasp_41": {
534
+ "confidence": 0.9596569538116455,
535
+ "position": [
536
+ -0.024607495724922046,
537
+ 0.09344006432729657,
538
+ 0.14319010265171528
539
+ ],
540
+ "orientation": {
541
+ "w": 0.6020005411085058,
542
+ "xyz": [
543
+ 0.7853181291005503,
544
+ 0.11455818166055742,
545
+ 0.08801822325918926
546
+ ]
547
+ }
548
+ },
549
+ "grasp_42": {
550
+ "confidence": 0.9593545794487,
551
+ "position": [
552
+ 0.055199629307026044,
553
+ 0.08076799763875897,
554
+ 0.14691932685673237
555
+ ],
556
+ "orientation": {
557
+ "w": 0.5837100716165776,
558
+ "xyz": [
559
+ 0.7679661445780813,
560
+ -0.1709344700354416,
561
+ -0.20072857302573996
562
+ ]
563
+ }
564
+ },
565
+ "grasp_43": {
566
+ "confidence": 0.9582769870758057,
567
+ "position": [
568
+ 0.048188089072937146,
569
+ 0.08989337934690411,
570
+ 0.11650838144123554
571
+ ],
572
+ "orientation": {
573
+ "w": 0.16293639483240105,
574
+ "xyz": [
575
+ -0.17135587613984032,
576
+ -0.6929232070647385,
577
+ 0.6811360540027848
578
+ ]
579
+ }
580
+ },
581
+ "grasp_44": {
582
+ "confidence": 0.9582656025886536,
583
+ "position": [
584
+ 0.03331145891570486,
585
+ 0.09548740191894467,
586
+ 0.12274276651442051
587
+ ],
588
+ "orientation": {
589
+ "w": 0.12524204017624793,
590
+ "xyz": [
591
+ -0.11845842593664167,
592
+ -0.7028078475986177,
593
+ 0.6901761818919155
594
+ ]
595
+ }
596
+ },
597
+ "grasp_45": {
598
+ "confidence": 0.9570678472518921,
599
+ "position": [
600
+ 0.012172871880466118,
601
+ 0.08823938025670941,
602
+ 0.16463658399879932
603
+ ],
604
+ "orientation": {
605
+ "w": 0.5321316936231306,
606
+ "xyz": [
607
+ 0.8444719016812127,
608
+ -0.05181387330070297,
609
+ -0.03191223035567801
610
+ ]
611
+ }
612
+ },
613
+ "grasp_46": {
614
+ "confidence": 0.956974983215332,
615
+ "position": [
616
+ 0.024516864359611645,
617
+ 0.08823535694318707,
618
+ 0.16523502953350544
619
+ ],
620
+ "orientation": {
621
+ "w": 0.5222984444594405,
622
+ "xyz": [
623
+ 0.8466902537790955,
624
+ -0.06567913437310247,
625
+ -0.07749967986217621
626
+ ]
627
+ }
628
+ },
629
+ "grasp_47": {
630
+ "confidence": 0.9569277763366699,
631
+ "position": [
632
+ -0.005215376935666427,
633
+ 0.08825797690587933,
634
+ 0.175900774076581
635
+ ],
636
+ "orientation": {
637
+ "w": 0.5032388599005192,
638
+ "xyz": [
639
+ 0.8618773726296747,
640
+ 0.05731440636346119,
641
+ 0.025161543239600705
642
+ ]
643
+ }
644
+ },
645
+ "grasp_48": {
646
+ "confidence": 0.9564505815505981,
647
+ "position": [
648
+ 0.03785984465503134,
649
+ 0.08200666411357815,
650
+ 0.1660734135657549
651
+ ],
652
+ "orientation": {
653
+ "w": 0.12793400787345763,
654
+ "xyz": [
655
+ -0.15324633727018638,
656
+ -0.840000043949459,
657
+ 0.5045278742622782
658
+ ]
659
+ }
660
+ },
661
+ "grasp_49": {
662
+ "confidence": 0.9563679099082947,
663
+ "position": [
664
+ 0.044858938694233075,
665
+ 0.07968669487672742,
666
+ 0.16485335119068623
667
+ ],
668
+ "orientation": {
669
+ "w": 0.13003112880635753,
670
+ "xyz": [
671
+ -0.20206769310624442,
672
+ -0.821878384888149,
673
+ 0.5165040884617602
674
+ ]
675
+ }
676
+ },
677
+ "grasp_50": {
678
+ "confidence": 0.9562331438064575,
679
+ "position": [
680
+ -0.024649248778587207,
681
+ 0.08491341872650082,
682
+ 0.17814685590565205
683
+ ],
684
+ "orientation": {
685
+ "w": 0.509371121778011,
686
+ "xyz": [
687
+ 0.835568316298265,
688
+ 0.2002941854358956,
689
+ 0.04742244592662538
690
+ ]
691
+ }
692
+ },
693
+ "grasp_51": {
694
+ "confidence": 0.9562206268310547,
695
+ "position": [
696
+ -0.03456541648483835,
697
+ 0.08273701472717221,
698
+ 0.16924570687115192
699
+ ],
700
+ "orientation": {
701
+ "w": 0.511090745206641,
702
+ "xyz": [
703
+ 0.8364456487667105,
704
+ 0.16029168038340724,
705
+ 0.11598061917070795
706
+ ]
707
+ }
708
+ },
709
+ "grasp_52": {
710
+ "confidence": 0.9560428857803345,
711
+ "position": [
712
+ 0.040311648190254346,
713
+ 0.09314021571117337,
714
+ 0.11402844078838825
715
+ ],
716
+ "orientation": {
717
+ "w": 0.13045578004688022,
718
+ "xyz": [
719
+ -0.15069803479292923,
720
+ -0.6820883080710445,
721
+ 0.7035815032778284
722
+ ]
723
+ }
724
+ },
725
+ "grasp_53": {
726
+ "confidence": 0.9559839367866516,
727
+ "position": [
728
+ 0.03836917006992735,
729
+ 0.0830962221189111,
730
+ 0.1693850327283144
731
+ ],
732
+ "orientation": {
733
+ "w": 0.11321012424473516,
734
+ "xyz": [
735
+ -0.16320287343431303,
736
+ -0.8430429010258698,
737
+ 0.49982692694687925
738
+ ]
739
+ }
740
+ },
741
+ "grasp_54": {
742
+ "confidence": 0.9558244943618774,
743
+ "position": [
744
+ 0.007159776199841872,
745
+ 0.048567992733296705,
746
+ 0.21500627882778645
747
+ ],
748
+ "orientation": {
749
+ "w": 0.28227784763637004,
750
+ "xyz": [
751
+ 0.959127845987358,
752
+ 0.0034963377039066157,
753
+ -0.019513262364082778
754
+ ]
755
+ }
756
+ },
757
+ "grasp_56": {
758
+ "confidence": 0.9555642604827881,
759
+ "position": [
760
+ 0.0343678581120912,
761
+ 0.09403158082204754,
762
+ 0.11985696293413639
763
+ ],
764
+ "orientation": {
765
+ "w": 0.11106792876443283,
766
+ "xyz": [
767
+ -0.131152219293211,
768
+ -0.6929960679855447,
769
+ 0.7001567398311741
770
+ ]
771
+ }
772
+ },
773
+ "grasp_57": {
774
+ "confidence": 0.9555055499076843,
775
+ "position": [
776
+ 0.02784695351147093,
777
+ 0.0840456570549577,
778
+ 0.1732561755925417
779
+ ],
780
+ "orientation": {
781
+ "w": 0.5066894366887948,
782
+ "xyz": [
783
+ 0.8551749344570093,
784
+ -0.05752113410588933,
785
+ -0.09291375224160435
786
+ ]
787
+ }
788
+ },
789
+ "grasp_58": {
790
+ "confidence": 0.9551668763160706,
791
+ "position": [
792
+ 0.001886923477286473,
793
+ -0.09507997231048648,
794
+ 0.18756036646664143
795
+ ],
796
+ "orientation": {
797
+ "w": 0.48267518654247915,
798
+ "xyz": [
799
+ -0.8745171275484709,
800
+ 0.043989836650780156,
801
+ 0.01758841072957705
802
+ ]
803
+ }
804
+ },
805
+ "grasp_59": {
806
+ "confidence": 0.9547091126441956,
807
+ "position": [
808
+ 0.03968496495508589,
809
+ 0.07640747083860333,
810
+ 0.1708372551947832
811
+ ],
812
+ "orientation": {
813
+ "w": 0.12538172522250424,
814
+ "xyz": [
815
+ -0.1800239787139274,
816
+ -0.8419314763150509,
817
+ 0.4929727976858313
818
+ ]
819
+ }
820
+ }
821
+ }
822
+ }
823
+ ],
824
+ "quality_check": {
825
+ "success": true,
826
+ "message": "YES"
827
+ }
828
+ }
dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d5c52ff95336cec52a372fbe6d7c4431f430173876c452662fd9371212f51fc
3
+ size 3780316