xinjjj commited on
Commit
8a1b43f
·
verified ·
1 Parent(s): 728e65b

Add asset bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4

Browse files
.gitattributes CHANGED
@@ -5777,3 +5777,4 @@ dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/afforda
5777
  dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5778
  dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5779
  dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5777
  dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5778
  dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5779
  dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5780
+ dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,688 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to unscrew or remove it for dispensing toothpaste",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the cap end to pick up and reorient the toothpaste tube",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "stabilize the tube by gripping the cap while another tool manipulates the body",
18
+ "confidence": 0.68
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "close the tube opening",
23
+ "seal the toothpaste",
24
+ "provide a twisting grip",
25
+ "support standing upright"
26
+ ],
27
+ "semantic_description": "Small light wood-toned cap at the bottom end, likely rigid plastic or wood-like plastic, with a matte smooth finish, hard feel, rounded cylindrical shape, and subtle wood-grain appearance.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9747642874717712,
32
+ "position": [
33
+ 0.023389940295601264,
34
+ -0.09839885846304242,
35
+ -0.051852649077773094
36
+ ],
37
+ "orientation": {
38
+ "w": 0.713532125558359,
39
+ "xyz": [
40
+ -0.690432256707947,
41
+ -0.08807604960041682,
42
+ 0.08011126125661966
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9712035059928894,
48
+ "position": [
49
+ 0.051490665558958426,
50
+ -0.0890895889751846,
51
+ -0.05934826843440533
52
+ ],
53
+ "orientation": {
54
+ "w": 0.20409058377750447,
55
+ "xyz": [
56
+ 0.1767799024222715,
57
+ -0.6564093511147566,
58
+ -0.7044307371786341
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9698927402496338,
64
+ "position": [
65
+ 0.03291709456243552,
66
+ -0.10176710948871914,
67
+ -0.054575106129050255
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7040771000180199,
71
+ "xyz": [
72
+ -0.6894754108338786,
73
+ -0.12850688312994762,
74
+ 0.11128825667560242
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9642525911331177,
80
+ "position": [
81
+ 0.026860698271775618,
82
+ -0.1010960729472572,
83
+ -0.06778429262340069
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7407592915163268,
87
+ "xyz": [
88
+ -0.658855743375127,
89
+ -0.09357611590856263,
90
+ 0.09180572958865903
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9631651639938354,
96
+ "position": [
97
+ 0.011443851661169901,
98
+ -0.1036464513890678,
99
+ -0.06085670553147793
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7264137987921436,
103
+ "xyz": [
104
+ -0.6850553148907359,
105
+ -0.054801772940041404,
106
+ 0.004355932385795484
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9629256725311279,
112
+ "position": [
113
+ 0.03575968850054778,
114
+ -0.09799401626514737,
115
+ -0.0647669117897749
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7350763908047788,
119
+ "xyz": [
120
+ -0.653905952296334,
121
+ -0.12220571304111094,
122
+ 0.13090251690841676
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9627894163131714,
128
+ "position": [
129
+ 0.045471848134184256,
130
+ -0.09766855255293194,
131
+ -0.05865573696792126
132
+ ],
133
+ "orientation": {
134
+ "w": 0.7162844981216212,
135
+ "xyz": [
136
+ -0.6623213842570889,
137
+ -0.1799255296524992,
138
+ 0.1260702402857157
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9621856808662415,
144
+ "position": [
145
+ -0.09495652359328233,
146
+ -0.0010439981269882992,
147
+ -0.10382741503417492
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6010211069365531,
151
+ "xyz": [
152
+ -0.37005776044061084,
153
+ 0.3689246285472786,
154
+ -0.6047524298468694
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9613715410232544,
160
+ "position": [
161
+ -0.08889438104233705,
162
+ -0.003565284438082017,
163
+ -0.11194744519889355
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6075879805138902,
167
+ "xyz": [
168
+ 0.342051496937048,
169
+ 0.36255894996254134,
170
+ 0.6183757976992933
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9603326916694641,
176
+ "position": [
177
+ 0.013705071207368746,
178
+ -0.10672307178901974,
179
+ -0.05983961187303066
180
+ ],
181
+ "orientation": {
182
+ "w": 0.053510325796254546,
183
+ "xyz": [
184
+ 0.03587042210363181,
185
+ -0.6924553873140272,
186
+ -0.7185788018241749
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9595001935958862,
192
+ "position": [
193
+ 0.09020557362237014,
194
+ -0.04961087346600834,
195
+ -0.04785005562007427
196
+ ],
197
+ "orientation": {
198
+ "w": 0.596872261510954,
199
+ "xyz": [
200
+ -0.6117857058979133,
201
+ -0.3636802745561155,
202
+ 0.3704030391297837
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9592863321304321,
208
+ "position": [
209
+ 0.09806071329512633,
210
+ -0.019147977014654316,
211
+ -0.051149485632777214
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5353196382594473,
215
+ "xyz": [
216
+ -0.5409206110068852,
217
+ -0.4512583287760643,
218
+ 0.46605117550752484
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.9592643976211548,
224
+ "position": [
225
+ -0.09199532013735734,
226
+ 0.0013623625127365813,
227
+ -0.11053879372775555
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5906326481544714,
231
+ "xyz": [
232
+ -0.35459959382627304,
233
+ 0.3556161150456384,
234
+ -0.6316243992374941
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9584010243415833,
240
+ "position": [
241
+ -0.09135436158976518,
242
+ -0.010302774389856495,
243
+ -0.10914702527225018
244
+ ],
245
+ "orientation": {
246
+ "w": 0.6298304802707605,
247
+ "xyz": [
248
+ -0.3848812585679393,
249
+ 0.3441505718180773,
250
+ -0.5802933455092799
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9583013653755188,
256
+ "position": [
257
+ 0.06070644888677634,
258
+ -0.08589278325962368,
259
+ -0.07527226768434048
260
+ ],
261
+ "orientation": {
262
+ "w": 0.2452752729288009,
263
+ "xyz": [
264
+ 0.18630913115625683,
265
+ -0.627525587818195,
266
+ -0.7150808239429526
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9581757187843323,
272
+ "position": [
273
+ 0.09894163269200362,
274
+ -0.017875827630632557,
275
+ -0.05808204226195812
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5333019790110344,
279
+ "xyz": [
280
+ -0.5362427219983045,
281
+ -0.4459801926744906,
282
+ 0.4786798617330664
283
+ ]
284
+ }
285
+ },
286
+ "grasp_17": {
287
+ "confidence": 0.9578656554222107,
288
+ "position": [
289
+ 0.033056234155083075,
290
+ -0.10371296272205655,
291
+ -0.054491644725203514
292
+ ],
293
+ "orientation": {
294
+ "w": 0.7157519217977257,
295
+ "xyz": [
296
+ -0.6816147149321715,
297
+ -0.11524321060802833,
298
+ 0.0990937396587215
299
+ ]
300
+ }
301
+ },
302
+ "grasp_18": {
303
+ "confidence": 0.957842230796814,
304
+ "position": [
305
+ -0.08778111528954469,
306
+ 0.0016139104118337855,
307
+ -0.11484810523688793
308
+ ],
309
+ "orientation": {
310
+ "w": 0.6258712560460017,
311
+ "xyz": [
312
+ 0.35955874722413295,
313
+ 0.3428746375855912,
314
+ 0.6011985204993119
315
+ ]
316
+ }
317
+ },
318
+ "grasp_19": {
319
+ "confidence": 0.9566678404808044,
320
+ "position": [
321
+ 0.09633690226473846,
322
+ 0.02457269861770328,
323
+ -0.04851740412414074
324
+ ],
325
+ "orientation": {
326
+ "w": 0.5635073138601056,
327
+ "xyz": [
328
+ 0.5487670294361375,
329
+ -0.4454193118656373,
330
+ -0.42768667415194
331
+ ]
332
+ }
333
+ }
334
+ }
335
+ },
336
+ {
337
+ "part_name": "tube body",
338
+ "mask_color": "Green",
339
+ "graspable": true,
340
+ "grasp_scenarios": [
341
+ {
342
+ "scenario": "grasp the tube body to pick up and transport the toothpaste",
343
+ "confidence": 0.92
344
+ },
345
+ {
346
+ "scenario": "squeeze the tube body to dispense toothpaste",
347
+ "confidence": 0.9
348
+ },
349
+ {
350
+ "scenario": "hold the body to stabilize the tube while opening or closing the cap",
351
+ "confidence": 0.88
352
+ }
353
+ ],
354
+ "functional_labels": [
355
+ "contain toothpaste",
356
+ "provide main grasp surface",
357
+ "deform to dispense paste",
358
+ "display product label"
359
+ ],
360
+ "semantic_description": "Large off-white tapered tube body made of flexible plastic, with a mostly matte smooth surface, soft squeezable feel, green botanical graphics and small printed text, forming the main central portion of the package.",
361
+ "id": 1,
362
+ "grasp_group": {
363
+ "grasp_20": {
364
+ "confidence": 0.9865394234657288,
365
+ "position": [
366
+ -0.024723197187995538,
367
+ 0.10490254148317035,
368
+ -0.00853353925049305
369
+ ],
370
+ "orientation": {
371
+ "w": 0.0825917154236856,
372
+ "xyz": [
373
+ -0.09861137580876138,
374
+ 0.697965991191252,
375
+ -0.7044841234867459
376
+ ]
377
+ }
378
+ },
379
+ "grasp_22": {
380
+ "confidence": 0.9823498129844666,
381
+ "position": [
382
+ -0.017723894532537088,
383
+ 0.10820337220502552,
384
+ 0.06004607118666172
385
+ ],
386
+ "orientation": {
387
+ "w": 0.1009654963936922,
388
+ "xyz": [
389
+ -0.04294654045877279,
390
+ 0.5806419395443909,
391
+ -0.8067319884836143
392
+ ]
393
+ }
394
+ },
395
+ "grasp_23": {
396
+ "confidence": 0.9819459319114685,
397
+ "position": [
398
+ -0.0019468738173600286,
399
+ 0.11878891124797519,
400
+ 0.09136337973177433
401
+ ],
402
+ "orientation": {
403
+ "w": 0.059248011897552445,
404
+ "xyz": [
405
+ 0.011497877435716961,
406
+ 0.7019501519857783,
407
+ -0.7096643263035024
408
+ ]
409
+ }
410
+ },
411
+ "grasp_24": {
412
+ "confidence": 0.9815789461135864,
413
+ "position": [
414
+ -0.005139900225913152,
415
+ 0.12152183636499103,
416
+ 0.09549032337963581
417
+ ],
418
+ "orientation": {
419
+ "w": 0.04421944926178592,
420
+ "xyz": [
421
+ -0.01563769664859582,
422
+ 0.7058687579644348,
423
+ -0.7067880865438078
424
+ ]
425
+ }
426
+ },
427
+ "grasp_25": {
428
+ "confidence": 0.9811858534812927,
429
+ "position": [
430
+ -0.03803966086707078,
431
+ 0.09653752132726368,
432
+ -0.02481819875538349
433
+ ],
434
+ "orientation": {
435
+ "w": 0.12445822779550489,
436
+ "xyz": [
437
+ -0.15342470389197063,
438
+ 0.6897906644380376,
439
+ -0.696534169315328
440
+ ]
441
+ }
442
+ },
443
+ "grasp_26": {
444
+ "confidence": 0.9807460308074951,
445
+ "position": [
446
+ 0.039966088865185156,
447
+ -0.0987520159833366,
448
+ -0.0288726594299078
449
+ ],
450
+ "orientation": {
451
+ "w": 0.13355399502058923,
452
+ "xyz": [
453
+ 0.14471708112956727,
454
+ -0.6928533628617403,
455
+ -0.6936674379085094
456
+ ]
457
+ }
458
+ },
459
+ "grasp_27": {
460
+ "confidence": 0.9804514050483704,
461
+ "position": [
462
+ -0.05164357539615594,
463
+ 0.08899927719903644,
464
+ -0.015527090057730675
465
+ ],
466
+ "orientation": {
467
+ "w": 0.18075466872520662,
468
+ "xyz": [
469
+ -0.20791309347891854,
470
+ 0.6845199303614204,
471
+ -0.6749313744611843
472
+ ]
473
+ }
474
+ },
475
+ "grasp_28": {
476
+ "confidence": 0.9802027940750122,
477
+ "position": [
478
+ 0.021789361868286505,
479
+ -0.1040715219132835,
480
+ -0.027600659057497978
481
+ ],
482
+ "orientation": {
483
+ "w": 0.06314516197505599,
484
+ "xyz": [
485
+ 0.08005892683618744,
486
+ -0.6911523028418178,
487
+ -0.7154800842996499
488
+ ]
489
+ }
490
+ },
491
+ "grasp_29": {
492
+ "confidence": 0.9797207117080688,
493
+ "position": [
494
+ 0.005035401933128014,
495
+ 0.11867999866080936,
496
+ 0.09826831705868244
497
+ ],
498
+ "orientation": {
499
+ "w": 0.014240693553898204,
500
+ "xyz": [
501
+ -0.019654539298792795,
502
+ -0.7147407480973198,
503
+ 0.6989682143998674
504
+ ]
505
+ }
506
+ },
507
+ "grasp_30": {
508
+ "confidence": 0.9788045883178711,
509
+ "position": [
510
+ 0.01574064526357688,
511
+ 0.11388732328487094,
512
+ 0.10059253312647343
513
+ ],
514
+ "orientation": {
515
+ "w": 0.6971894656954276,
516
+ "xyz": [
517
+ 0.7133933703707038,
518
+ -0.016201766230584336,
519
+ -0.0688058922292378
520
+ ]
521
+ }
522
+ },
523
+ "grasp_31": {
524
+ "confidence": 0.9787806272506714,
525
+ "position": [
526
+ -0.10353969674906693,
527
+ -0.007995610372745432,
528
+ -0.02307807467877865
529
+ ],
530
+ "orientation": {
531
+ "w": 0.5197347315554762,
532
+ "xyz": [
533
+ -0.5100624184834741,
534
+ 0.4891183235176517,
535
+ -0.48007853905900516
536
+ ]
537
+ }
538
+ },
539
+ "grasp_32": {
540
+ "confidence": 0.9787169098854065,
541
+ "position": [
542
+ -0.029822478856658563,
543
+ 0.10584284200740512,
544
+ 0.06995250470936298
545
+ ],
546
+ "orientation": {
547
+ "w": 0.17973851241654018,
548
+ "xyz": [
549
+ -0.05592212339015095,
550
+ 0.6144333735156765,
551
+ -0.7661843203694337
552
+ ]
553
+ }
554
+ },
555
+ "grasp_33": {
556
+ "confidence": 0.9784808158874512,
557
+ "position": [
558
+ 0.06694167215027846,
559
+ -0.07673926070856396,
560
+ -0.0352949183434248
561
+ ],
562
+ "orientation": {
563
+ "w": 0.2510119822780371,
564
+ "xyz": [
565
+ 0.2399876311077831,
566
+ -0.680370582949342,
567
+ -0.6453640767235947
568
+ ]
569
+ }
570
+ },
571
+ "grasp_34": {
572
+ "confidence": 0.9771472811698914,
573
+ "position": [
574
+ -0.10553101342520677,
575
+ 0.000713126253685914,
576
+ -0.029276462271809578
577
+ ],
578
+ "orientation": {
579
+ "w": 0.5070976535573546,
580
+ "xyz": [
581
+ -0.48200373847744726,
582
+ 0.5065530624325304,
583
+ -0.5039130488393959
584
+ ]
585
+ }
586
+ },
587
+ "grasp_35": {
588
+ "confidence": 0.9767548441886902,
589
+ "position": [
590
+ -0.009060017619049177,
591
+ 0.11126089676690754,
592
+ 0.10313359089195728
593
+ ],
594
+ "orientation": {
595
+ "w": 0.07382936236907926,
596
+ "xyz": [
597
+ -0.004657800731670018,
598
+ 0.7181175842822292,
599
+ -0.6919788040750774
600
+ ]
601
+ }
602
+ },
603
+ "grasp_36": {
604
+ "confidence": 0.9767223000526428,
605
+ "position": [
606
+ -0.0336511385103222,
607
+ 0.09927408232761081,
608
+ -0.0370751041918993
609
+ ],
610
+ "orientation": {
611
+ "w": 0.11792924944180869,
612
+ "xyz": [
613
+ -0.13029362513829418,
614
+ 0.6569447099173281,
615
+ -0.7331711338330575
616
+ ]
617
+ }
618
+ },
619
+ "grasp_37": {
620
+ "confidence": 0.976718544960022,
621
+ "position": [
622
+ -0.049877389188623056,
623
+ 0.08718780263734516,
624
+ -0.02386036328971386
625
+ ],
626
+ "orientation": {
627
+ "w": 0.17502372540881783,
628
+ "xyz": [
629
+ -0.2080283936519497,
630
+ 0.6384553410751226,
631
+ -0.7200455960779552
632
+ ]
633
+ }
634
+ },
635
+ "grasp_38": {
636
+ "confidence": 0.9762080907821655,
637
+ "position": [
638
+ 0.0003292911860626191,
639
+ 0.11122405364585575,
640
+ 0.06154508329927921
641
+ ],
642
+ "orientation": {
643
+ "w": 0.05075973815533376,
644
+ "xyz": [
645
+ 0.021590772761806647,
646
+ 0.6575198773407607,
647
+ -0.7514152636297325
648
+ ]
649
+ }
650
+ },
651
+ "grasp_39": {
652
+ "confidence": 0.9761566519737244,
653
+ "position": [
654
+ -0.04849379402003251,
655
+ 0.09149438723397907,
656
+ -0.0046959444880485535
657
+ ],
658
+ "orientation": {
659
+ "w": 0.17747642756576018,
660
+ "xyz": [
661
+ -0.19711009168617177,
662
+ 0.7259783063918582,
663
+ -0.6345118029338574
664
+ ]
665
+ }
666
+ }
667
+ }
668
+ },
669
+ {
670
+ "part_name": "sealed top seam",
671
+ "mask_color": "Blue",
672
+ "graspable": false,
673
+ "grasp_scenarios": [],
674
+ "functional_labels": [
675
+ "seal the filled tube",
676
+ "close the manufacturing end",
677
+ "indicate top edge"
678
+ ],
679
+ "semantic_description": "Thin off-white crimped seam along the narrow top edge of the tube, made from the same flexible plastic with a matte smooth finish and a flattened ribbed sealed shape.",
680
+ "id": 2,
681
+ "grasp_group": {}
682
+ }
683
+ ],
684
+ "quality_check": {
685
+ "success": true,
686
+ "message": "YES"
687
+ }
688
+ }
dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37d25287c2072fe99cd46ae821aa1fb8f25ca84c876691b7626fee55cc9125f5
3
+ size 3782020