xinjjj commited on
Commit
7687604
·
verified ·
1 Parent(s): f53ce4d

Add asset bathroom_supplies/bath_products/69f841c738725e29802622236994349a

Browse files
.gitattributes CHANGED
@@ -5619,3 +5619,4 @@ dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/afforda
5619
  dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5620
  dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5621
  dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5619
  dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5620
  dataset/bathroom_supplies/bath_products/6a06276eac2957aa90b488d5c8c223ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5621
  dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5622
+ dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,707 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 dispenser",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body steady while pressing the pump head",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the bottle body to reorient the bottle on a counter",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid",
23
+ "main grasp surface",
24
+ "support the pump assembly",
25
+ "stabilize during dispensing"
26
+ ],
27
+ "semantic_description": "Large white plastic bottle body with a smooth semi-gloss surface, rounded oval form, and a printed dark front logo/label on the main lower front portion.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_14": {
31
+ "confidence": 0.9567238092422485,
32
+ "position": [
33
+ 0.0010039643966592848,
34
+ -0.0031442638719454408,
35
+ -0.1436028489843011
36
+ ],
37
+ "orientation": {
38
+ "w": 0.9890324391931298,
39
+ "xyz": [
40
+ -0.007954498401905872,
41
+ 0.021616903765944273,
42
+ 0.1458912939501052
43
+ ]
44
+ }
45
+ }
46
+ }
47
+ },
48
+ {
49
+ "part_name": "collar",
50
+ "mask_color": "Green",
51
+ "graspable": true,
52
+ "grasp_scenarios": [
53
+ {
54
+ "scenario": "grasp the collar to stabilize the bottle near the top during pump use",
55
+ "confidence": 0.5
56
+ },
57
+ {
58
+ "scenario": "pinch the collar briefly while repositioning the bottle",
59
+ "confidence": 0.32
60
+ }
61
+ ],
62
+ "functional_labels": [
63
+ "connect pump assembly to bottle",
64
+ "secure the dispenser head",
65
+ "seal the bottle opening",
66
+ "provide top structural support"
67
+ ],
68
+ "semantic_description": "Short white plastic collar with a smooth slightly glossy finish, ring-shaped around the bottle neck below the pump head.",
69
+ "id": 1,
70
+ "grasp_group": {
71
+ "grasp_20": {
72
+ "confidence": 0.9441487789154053,
73
+ "position": [
74
+ 0.09296079084742814,
75
+ -0.04152734868694097,
76
+ 0.06521410774439573
77
+ ],
78
+ "orientation": {
79
+ "w": 0.5869424900737812,
80
+ "xyz": [
81
+ -0.5937990639456222,
82
+ -0.3913861706650471,
83
+ 0.38693416806408093
84
+ ]
85
+ }
86
+ },
87
+ "grasp_21": {
88
+ "confidence": 0.928600549697876,
89
+ "position": [
90
+ -0.08985866501461715,
91
+ -0.021783144329674542,
92
+ 0.0979394456371665
93
+ ],
94
+ "orientation": {
95
+ "w": 0.4169078840379519,
96
+ "xyz": [
97
+ -0.6528137131174742,
98
+ 0.5445071992024538,
99
+ -0.3217669687980314
100
+ ]
101
+ }
102
+ },
103
+ "grasp_22": {
104
+ "confidence": 0.9285382628440857,
105
+ "position": [
106
+ -0.053825615788809955,
107
+ -0.08740714855957776,
108
+ 0.06281666737049818
109
+ ],
110
+ "orientation": {
111
+ "w": 0.6826812340363956,
112
+ "xyz": [
113
+ -0.6679880253108066,
114
+ 0.22597850772406913,
115
+ -0.19149946418388855
116
+ ]
117
+ }
118
+ },
119
+ "grasp_23": {
120
+ "confidence": 0.9284475445747375,
121
+ "position": [
122
+ 0.07984381273854524,
123
+ 0.049157732049934566,
124
+ 0.08842082228511572
125
+ ],
126
+ "orientation": {
127
+ "w": 0.5076649058073632,
128
+ "xyz": [
129
+ 0.7148967408218336,
130
+ -0.39018396695625324,
131
+ -0.280990151614256
132
+ ]
133
+ }
134
+ },
135
+ "grasp_24": {
136
+ "confidence": 0.9266613125801086,
137
+ "position": [
138
+ 0.10125375643838197,
139
+ -0.026720921625383198,
140
+ 0.05785293411463499
141
+ ],
142
+ "orientation": {
143
+ "w": 0.41877368296281403,
144
+ "xyz": [
145
+ 0.4487213204320189,
146
+ -0.5599208664464185,
147
+ -0.5565666198806742
148
+ ]
149
+ }
150
+ },
151
+ "grasp_25": {
152
+ "confidence": 0.9257790446281433,
153
+ "position": [
154
+ 0.09052357927430421,
155
+ 0.04348666302394122,
156
+ 0.06530230026692152
157
+ ],
158
+ "orientation": {
159
+ "w": 0.5861305472827797,
160
+ "xyz": [
161
+ 0.6174504487111606,
162
+ -0.3539198643424032,
163
+ -0.3872294598196666
164
+ ]
165
+ }
166
+ },
167
+ "grasp_26": {
168
+ "confidence": 0.9239380359649658,
169
+ "position": [
170
+ 0.01670245931018144,
171
+ 0.08860551647376269,
172
+ 0.10235249157994986
173
+ ],
174
+ "orientation": {
175
+ "w": 0.5388991169158278,
176
+ "xyz": [
177
+ 0.8395181011790027,
178
+ -0.032036594333456625,
179
+ -0.06140648340082905
180
+ ]
181
+ }
182
+ },
183
+ "grasp_27": {
184
+ "confidence": 0.9230921268463135,
185
+ "position": [
186
+ -0.02860936790239066,
187
+ 0.09527784667443484,
188
+ 0.06320888828486204
189
+ ],
190
+ "orientation": {
191
+ "w": 0.08533014396709061,
192
+ "xyz": [
193
+ -0.11284408882573403,
194
+ 0.7039980372948541,
195
+ -0.6959682044696001
196
+ ]
197
+ }
198
+ },
199
+ "grasp_28": {
200
+ "confidence": 0.9206579327583313,
201
+ "position": [
202
+ 0.07847918674815446,
203
+ 0.0542010375065729,
204
+ 0.08322326000779867
205
+ ],
206
+ "orientation": {
207
+ "w": 0.2796598864408049,
208
+ "xyz": [
209
+ -0.37479967119355695,
210
+ -0.6968926403976872,
211
+ 0.5437427720426802
212
+ ]
213
+ }
214
+ },
215
+ "grasp_29": {
216
+ "confidence": 0.9200981855392456,
217
+ "position": [
218
+ -0.029262234340421855,
219
+ -0.09927732415962964,
220
+ 0.0528979292139411
221
+ ],
222
+ "orientation": {
223
+ "w": 0.7148913667763797,
224
+ "xyz": [
225
+ -0.680625319382817,
226
+ 0.12271662793871618,
227
+ -0.10305405159909024
228
+ ]
229
+ }
230
+ },
231
+ "grasp_30": {
232
+ "confidence": 0.9188442826271057,
233
+ "position": [
234
+ -0.09502598538529128,
235
+ -0.03364482813049108,
236
+ 0.05526609253138304
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5647232211646969,
240
+ "xyz": [
241
+ -0.5761449953975176,
242
+ 0.43361597485583514,
243
+ -0.4013998182680047
244
+ ]
245
+ }
246
+ },
247
+ "grasp_31": {
248
+ "confidence": 0.9154561161994934,
249
+ "position": [
250
+ -0.045790965552441776,
251
+ 0.08907083503436297,
252
+ 0.06146410759538412
253
+ ],
254
+ "orientation": {
255
+ "w": 0.694719232149061,
256
+ "xyz": [
257
+ 0.6722263050295758,
258
+ 0.206316571709235,
259
+ 0.1513620016604253
260
+ ]
261
+ }
262
+ },
263
+ "grasp_32": {
264
+ "confidence": 0.9153849482536316,
265
+ "position": [
266
+ -0.032047784770838916,
267
+ -0.09885838546324521,
268
+ 0.04950354527682066
269
+ ],
270
+ "orientation": {
271
+ "w": 0.7143879048604528,
272
+ "xyz": [
273
+ -0.6809256651625145,
274
+ 0.10270538777725169,
275
+ -0.12426489139577682
276
+ ]
277
+ }
278
+ },
279
+ "grasp_33": {
280
+ "confidence": 0.9139609932899475,
281
+ "position": [
282
+ -0.076039879466407,
283
+ 0.045448613236658275,
284
+ 0.10442052688449621
285
+ ],
286
+ "orientation": {
287
+ "w": 0.4539037861988055,
288
+ "xyz": [
289
+ 0.7404008468961509,
290
+ 0.42663322753885846,
291
+ 0.2525114412252008
292
+ ]
293
+ }
294
+ },
295
+ "grasp_34": {
296
+ "confidence": 0.9123479723930359,
297
+ "position": [
298
+ 0.03341594070661813,
299
+ -0.09779615618754178,
300
+ 0.06915194075554609
301
+ ],
302
+ "orientation": {
303
+ "w": 0.659581374868747,
304
+ "xyz": [
305
+ -0.7392982616079309,
306
+ -0.103358775646893,
307
+ 0.08779210560477622
308
+ ]
309
+ }
310
+ },
311
+ "grasp_35": {
312
+ "confidence": 0.9096406698226929,
313
+ "position": [
314
+ -0.044032405014149845,
315
+ -0.09499608643818647,
316
+ 0.05527742486447096
317
+ ],
318
+ "orientation": {
319
+ "w": 0.7008732685048652,
320
+ "xyz": [
321
+ -0.6693056144372629,
322
+ 0.1887931160306262,
323
+ -0.15863106668465796
324
+ ]
325
+ }
326
+ },
327
+ "grasp_36": {
328
+ "confidence": 0.9069567322731018,
329
+ "position": [
330
+ -0.044198340619914234,
331
+ 0.08965993754100055,
332
+ 0.056119862012565136
333
+ ],
334
+ "orientation": {
335
+ "w": 0.1489230618582377,
336
+ "xyz": [
337
+ -0.1710716503030301,
338
+ 0.697280451822064,
339
+ -0.6799679283732306
340
+ ]
341
+ }
342
+ },
343
+ "grasp_37": {
344
+ "confidence": 0.9050664901733398,
345
+ "position": [
346
+ 0.023825689335353673,
347
+ 0.09643260471057147,
348
+ 0.06094622518867254
349
+ ],
350
+ "orientation": {
351
+ "w": 0.08844161015250629,
352
+ "xyz": [
353
+ -0.08806343496950178,
354
+ -0.7098488567208997,
355
+ 0.6932081315355697
356
+ ]
357
+ }
358
+ },
359
+ "grasp_38": {
360
+ "confidence": 0.9044623374938965,
361
+ "position": [
362
+ -0.06377079978119582,
363
+ -0.08112558641005307,
364
+ 0.05970028322190046
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6768121299110118,
368
+ "xyz": [
369
+ -0.6435222020881193,
370
+ 0.27593939600990836,
371
+ -0.22729268786009021
372
+ ]
373
+ }
374
+ },
375
+ "grasp_39": {
376
+ "confidence": 0.9043270349502563,
377
+ "position": [
378
+ -0.10015801980625838,
379
+ -0.013493201811797917,
380
+ 0.05916800629347563
381
+ ],
382
+ "orientation": {
383
+ "w": 0.47072274334644976,
384
+ "xyz": [
385
+ 0.4716955652811185,
386
+ 0.5381840435151872,
387
+ 0.5160245419514095
388
+ ]
389
+ }
390
+ }
391
+ }
392
+ },
393
+ {
394
+ "part_name": "pump head",
395
+ "mask_color": "Blue",
396
+ "graspable": true,
397
+ "grasp_scenarios": [
398
+ {
399
+ "scenario": "pinch the pump head to rotate or orient the dispenser outlet during setup",
400
+ "confidence": 0.46
401
+ },
402
+ {
403
+ "scenario": "hold the pump head lightly while unlocking or adjusting it",
404
+ "confidence": 0.3
405
+ }
406
+ ],
407
+ "functional_labels": [
408
+ "dispense liquid when pressed",
409
+ "direct output through the outlet",
410
+ "provide a press surface for actuation",
411
+ "indicate dispensing direction"
412
+ ],
413
+ "semantic_description": "Small white plastic pump head with a smooth semi-gloss finish and an angled outlet shape at the top of the bottle, protruding outward for dispensing.",
414
+ "id": 2,
415
+ "grasp_group": {
416
+ "grasp_41": {
417
+ "confidence": 0.9652038812637329,
418
+ "position": [
419
+ 0.07834396616090089,
420
+ 0.037837867508642375,
421
+ 0.12983716931194067
422
+ ],
423
+ "orientation": {
424
+ "w": 0.4511543001980591,
425
+ "xyz": [
426
+ 0.7355015504043395,
427
+ -0.4202018372163362,
428
+ -0.2809407104099162
429
+ ]
430
+ }
431
+ },
432
+ "grasp_43": {
433
+ "confidence": 0.9649950265884399,
434
+ "position": [
435
+ 0.08785406604874879,
436
+ 0.02059120952617377,
437
+ 0.133664115332067
438
+ ],
439
+ "orientation": {
440
+ "w": 0.3413323786403009,
441
+ "xyz": [
442
+ -0.4864108967027437,
443
+ -0.701553021365184,
444
+ 0.3933446390558401
445
+ ]
446
+ }
447
+ },
448
+ "grasp_44": {
449
+ "confidence": 0.9645355343818665,
450
+ "position": [
451
+ -0.0774378617061302,
452
+ -0.033411837299354374,
453
+ 0.13530107494443655
454
+ ],
455
+ "orientation": {
456
+ "w": 0.26473364606261324,
457
+ "xyz": [
458
+ 0.5229338762582514,
459
+ 0.6916606243256602,
460
+ 0.42197374143583033
461
+ ]
462
+ }
463
+ },
464
+ "grasp_45": {
465
+ "confidence": 0.9637423157691956,
466
+ "position": [
467
+ -0.028657969902269542,
468
+ -0.08866328664589673,
469
+ 0.134244485758245
470
+ ],
471
+ "orientation": {
472
+ "w": 0.5099565341018679,
473
+ "xyz": [
474
+ -0.8412655531803293,
475
+ 0.1590663755590782,
476
+ -0.08315341559733636
477
+ ]
478
+ }
479
+ },
480
+ "grasp_46": {
481
+ "confidence": 0.9635947942733765,
482
+ "position": [
483
+ -0.00790986220818013,
484
+ 0.08948555670212954,
485
+ 0.12261295970529318
486
+ ],
487
+ "orientation": {
488
+ "w": 0.5432036409336792,
489
+ "xyz": [
490
+ 0.8339666451230573,
491
+ 0.097075114717456,
492
+ -0.002421033081128675
493
+ ]
494
+ }
495
+ },
496
+ "grasp_47": {
497
+ "confidence": 0.9634861946105957,
498
+ "position": [
499
+ 0.0422135564731434,
500
+ 0.07636610500048846,
501
+ 0.13202166464179754
502
+ ],
503
+ "orientation": {
504
+ "w": 0.13854693526023834,
505
+ "xyz": [
506
+ -0.21823610033207408,
507
+ -0.8275486367872342,
508
+ 0.49833824355896494
509
+ ]
510
+ }
511
+ },
512
+ "grasp_48": {
513
+ "confidence": 0.9623104929924011,
514
+ "position": [
515
+ -0.08107764169108123,
516
+ -0.022156064515002072,
517
+ 0.1325211888179183
518
+ ],
519
+ "orientation": {
520
+ "w": 0.29954227469105227,
521
+ "xyz": [
522
+ 0.5522299067479984,
523
+ 0.6655428742879786,
524
+ 0.4029506647847888
525
+ ]
526
+ }
527
+ },
528
+ "grasp_49": {
529
+ "confidence": 0.9618383646011353,
530
+ "position": [
531
+ 0.0819927166448906,
532
+ 0.021003083209507167,
533
+ 0.13683295156806707
534
+ ],
535
+ "orientation": {
536
+ "w": 0.34024257298079663,
537
+ "xyz": [
538
+ -0.48405634279069637,
539
+ -0.7152077035281426,
540
+ 0.3720247160465322
541
+ ]
542
+ }
543
+ },
544
+ "grasp_51": {
545
+ "confidence": 0.9605621099472046,
546
+ "position": [
547
+ -0.021310982177965343,
548
+ -0.08851516165304929,
549
+ 0.13986897375434637
550
+ ],
551
+ "orientation": {
552
+ "w": 0.4927534942633349,
553
+ "xyz": [
554
+ -0.8624027001493856,
555
+ 0.09105827436228253,
556
+ -0.07186074962373683
557
+ ]
558
+ }
559
+ },
560
+ "grasp_52": {
561
+ "confidence": 0.9601578116416931,
562
+ "position": [
563
+ 0.01354150113184005,
564
+ 0.08473114750813693,
565
+ 0.13073368277400732
566
+ ],
567
+ "orientation": {
568
+ "w": 0.0618514094035352,
569
+ "xyz": [
570
+ -0.048933383256911926,
571
+ -0.8575625699963114,
572
+ 0.5082975169122413
573
+ ]
574
+ }
575
+ },
576
+ "grasp_53": {
577
+ "confidence": 0.9590127468109131,
578
+ "position": [
579
+ 0.040252470527775586,
580
+ 0.07611189119052142,
581
+ 0.13585943635553122
582
+ ],
583
+ "orientation": {
584
+ "w": 0.11720473346809852,
585
+ "xyz": [
586
+ -0.22728541474489658,
587
+ -0.8298415772151009,
588
+ 0.49595095263752226
589
+ ]
590
+ }
591
+ },
592
+ "grasp_54": {
593
+ "confidence": 0.9587129354476929,
594
+ "position": [
595
+ 0.09096890792716295,
596
+ 0.014598380657844245,
597
+ 0.13369617518037558
598
+ ],
599
+ "orientation": {
600
+ "w": 0.3463376020254642,
601
+ "xyz": [
602
+ -0.5234431871423423,
603
+ -0.6724898885501367,
604
+ 0.3921923572117928
605
+ ]
606
+ }
607
+ },
608
+ "grasp_55": {
609
+ "confidence": 0.9584165811538696,
610
+ "position": [
611
+ -0.03483749448787421,
612
+ -0.08570904203224927,
613
+ 0.1353835379704833
614
+ ],
615
+ "orientation": {
616
+ "w": 0.5054463907693786,
617
+ "xyz": [
618
+ -0.8267389358920635,
619
+ 0.23475166250901236,
620
+ -0.07693071485123495
621
+ ]
622
+ }
623
+ },
624
+ "grasp_56": {
625
+ "confidence": 0.9576265811920166,
626
+ "position": [
627
+ -0.08286761387716979,
628
+ -0.016539000091142952,
629
+ 0.13180626090615988
630
+ ],
631
+ "orientation": {
632
+ "w": 0.3761566154547237,
633
+ "xyz": [
634
+ -0.6625430696611908,
635
+ 0.5642147872877559,
636
+ -0.3181266340616672
637
+ ]
638
+ }
639
+ },
640
+ "grasp_57": {
641
+ "confidence": 0.957192599773407,
642
+ "position": [
643
+ -0.04497570439707488,
644
+ -0.02219864830840379,
645
+ 0.1710050394758582
646
+ ],
647
+ "orientation": {
648
+ "w": 0.22596750026380513,
649
+ "xyz": [
650
+ -0.7364362477080997,
651
+ 0.628379312354245,
652
+ -0.10835027314847183
653
+ ]
654
+ }
655
+ },
656
+ "grasp_58": {
657
+ "confidence": 0.9567792415618896,
658
+ "position": [
659
+ -0.034779156441800296,
660
+ 0.025739130447618663,
661
+ 0.17582255508750677
662
+ ],
663
+ "orientation": {
664
+ "w": 0.11936218684463724,
665
+ "xyz": [
666
+ -0.3492306405659997,
667
+ 0.907581522113953,
668
+ -0.2002159053593096
669
+ ]
670
+ }
671
+ }
672
+ }
673
+ },
674
+ {
675
+ "part_name": "pump neck spacer",
676
+ "mask_color": "Yellow",
677
+ "graspable": false,
678
+ "grasp_scenarios": [],
679
+ "functional_labels": [
680
+ "part of the pump assembly",
681
+ "transitional neck element beneath the pump head",
682
+ "support spacing between pump head and collar"
683
+ ],
684
+ "semantic_description": "Small white circular neck section directly beneath the pump head and above the larger collar, visible as a narrow rounded transition element.",
685
+ "id": 3,
686
+ "grasp_group": {}
687
+ },
688
+ {
689
+ "part_name": "front label",
690
+ "mask_color": "Orange",
691
+ "graspable": false,
692
+ "grasp_scenarios": [],
693
+ "functional_labels": [
694
+ "provide branding",
695
+ "identify product",
696
+ "indicate front orientation"
697
+ ],
698
+ "semantic_description": "Small dark printed logo/label area on the front of the white bottle, appearing as a compact graphic and text on the smooth bottle surface.",
699
+ "id": 4,
700
+ "grasp_group": {}
701
+ }
702
+ ],
703
+ "quality_check": {
704
+ "success": true,
705
+ "message": "YES"
706
+ }
707
+ }
dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c603476aeda7f4b86cd07835b729a16cf73e6f77f13a874a09396c017a94fadf
3
+ size 37309468