Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
bad169c
·
verified ·
1 Parent(s): 86f013f

Add asset bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/affordance/affordance_annot.json +654 -0
  3. dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5671,3 +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
 
 
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
dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,654 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 sanitizer bottle",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body steady while pressing the pump",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the bottle body for reorientation or placement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain sanitizer liquid",
23
+ "main grasp surface",
24
+ "support pumping during dispensing",
25
+ "provide structural enclosure"
26
+ ],
27
+ "semantic_description": "Large pale yellow plastic bottle body with a semi-gloss smooth hard surface, rounded rectangular cylindrical shape, occupying most of the object and showing a printed front label on one side.",
28
+ "id": 0,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "front label",
33
+ "mask_color": "Green",
34
+ "graspable": false,
35
+ "grasp_scenarios": [],
36
+ "functional_labels": [
37
+ "display product information",
38
+ "provide branding",
39
+ "indicate front orientation"
40
+ ],
41
+ "semantic_description": "Rectangular cream paper or plastic label on the front side, smooth and slightly matte with printed botanical graphics and small dark text.",
42
+ "id": 1,
43
+ "grasp_group": {}
44
+ },
45
+ {
46
+ "part_name": "pump collar",
47
+ "mask_color": "Blue",
48
+ "graspable": true,
49
+ "grasp_scenarios": [
50
+ {
51
+ "scenario": "grasp the collar to stabilize or twist the pump assembly during opening or maintenance",
52
+ "confidence": 0.54
53
+ },
54
+ {
55
+ "scenario": "hold near the neck for careful repositioning of the bottle",
56
+ "confidence": 0.34
57
+ }
58
+ ],
59
+ "functional_labels": [
60
+ "connect pump to bottle",
61
+ "secure dispenser assembly",
62
+ "provide neck support"
63
+ ],
64
+ "semantic_description": "Short white plastic collar around the bottle neck with a ribbed ring texture, matte to semi-gloss finish, and a hard cylindrical form below the pump head.",
65
+ "id": 2,
66
+ "grasp_group": {
67
+ "grasp_20": {
68
+ "confidence": 0.969189465045929,
69
+ "position": [
70
+ 0.10427476288168691,
71
+ 0.009723954019136727,
72
+ 0.07223005034029484
73
+ ],
74
+ "orientation": {
75
+ "w": 0.5093845424185988,
76
+ "xyz": [
77
+ 0.5426826050904532,
78
+ -0.46257529399855357,
79
+ -0.4817126482244217
80
+ ]
81
+ }
82
+ },
83
+ "grasp_21": {
84
+ "confidence": 0.9645698070526123,
85
+ "position": [
86
+ 0.08804054380743764,
87
+ -0.05832628987263888,
88
+ 0.07474037073552608
89
+ ],
90
+ "orientation": {
91
+ "w": 0.319332167687353,
92
+ "xyz": [
93
+ 0.3631460301100759,
94
+ -0.613784227682181,
95
+ -0.6240359359395712
96
+ ]
97
+ }
98
+ },
99
+ "grasp_22": {
100
+ "confidence": 0.9639432430267334,
101
+ "position": [
102
+ 0.09665305734961294,
103
+ 0.03168796293903142,
104
+ 0.07217106409370899
105
+ ],
106
+ "orientation": {
107
+ "w": 0.5647986412058623,
108
+ "xyz": [
109
+ 0.578450084008948,
110
+ -0.4094459589238989,
111
+ -0.42279073064926764
112
+ ]
113
+ }
114
+ },
115
+ "grasp_23": {
116
+ "confidence": 0.9598920345306396,
117
+ "position": [
118
+ 0.09784036697237752,
119
+ 0.014389595133252442,
120
+ 0.07785974629223347
121
+ ],
122
+ "orientation": {
123
+ "w": 0.4507675309496034,
124
+ "xyz": [
125
+ -0.4731715882887506,
126
+ -0.5433218749316466,
127
+ 0.5269901529427847
128
+ ]
129
+ }
130
+ },
131
+ "grasp_24": {
132
+ "confidence": 0.9598853588104248,
133
+ "position": [
134
+ 0.050017649395158514,
135
+ 0.07488350488711149,
136
+ 0.11254470981657505
137
+ ],
138
+ "orientation": {
139
+ "w": 0.5069741617106657,
140
+ "xyz": [
141
+ 0.8193942440888035,
142
+ -0.19907478660039257,
143
+ -0.1787162596181854
144
+ ]
145
+ }
146
+ },
147
+ "grasp_25": {
148
+ "confidence": 0.9592104554176331,
149
+ "position": [
150
+ -0.09257397233159281,
151
+ -0.02313610806595534,
152
+ 0.08744117058813572
153
+ ],
154
+ "orientation": {
155
+ "w": 0.5166578515530378,
156
+ "xyz": [
157
+ -0.5853990266631947,
158
+ 0.4843926693989866,
159
+ -0.39463449651913046
160
+ ]
161
+ }
162
+ },
163
+ "grasp_26": {
164
+ "confidence": 0.9590638279914856,
165
+ "position": [
166
+ 0.0933519211539533,
167
+ 0.01908936642576009,
168
+ 0.10628705658018589
169
+ ],
170
+ "orientation": {
171
+ "w": 0.4109440174070117,
172
+ "xyz": [
173
+ 0.6663271743583776,
174
+ -0.507428645659375,
175
+ -0.3600684390963171
176
+ ]
177
+ }
178
+ },
179
+ "grasp_27": {
180
+ "confidence": 0.9584223628044128,
181
+ "position": [
182
+ 0.03344725267379545,
183
+ 0.09318145283032209,
184
+ 0.06852821819484234
185
+ ],
186
+ "orientation": {
187
+ "w": 0.14823330589119424,
188
+ "xyz": [
189
+ -0.08610463006580132,
190
+ -0.6900120474082507,
191
+ 0.7032042762507009
192
+ ]
193
+ }
194
+ },
195
+ "grasp_28": {
196
+ "confidence": 0.9579741358757019,
197
+ "position": [
198
+ 0.01690914304344915,
199
+ 0.08777046867180616,
200
+ 0.11350803263485432
201
+ ],
202
+ "orientation": {
203
+ "w": 0.5350074633906227,
204
+ "xyz": [
205
+ 0.840720925081304,
206
+ -0.0694596970704584,
207
+ -0.046159405646606276
208
+ ]
209
+ }
210
+ },
211
+ "grasp_29": {
212
+ "confidence": 0.9571571946144104,
213
+ "position": [
214
+ 0.0587306898960378,
215
+ -0.08375904045533389,
216
+ 0.07925833202898502
217
+ ],
218
+ "orientation": {
219
+ "w": 0.641452459734991,
220
+ "xyz": [
221
+ -0.7010160173624299,
222
+ -0.24341527724477763,
223
+ 0.19458748188178693
224
+ ]
225
+ }
226
+ },
227
+ "grasp_30": {
228
+ "confidence": 0.9566311836242676,
229
+ "position": [
230
+ 0.04249173597781919,
231
+ 0.09002742089796811,
232
+ 0.07354882918298244
233
+ ],
234
+ "orientation": {
235
+ "w": 0.16573252262628682,
236
+ "xyz": [
237
+ -0.1462971066442437,
238
+ -0.7011921191783994,
239
+ 0.6778344189649532
240
+ ]
241
+ }
242
+ },
243
+ "grasp_31": {
244
+ "confidence": 0.9562311768531799,
245
+ "position": [
246
+ 0.09866195739596151,
247
+ 0.008906599250622094,
248
+ 0.07441415078938007
249
+ ],
250
+ "orientation": {
251
+ "w": 0.4716702144582102,
252
+ "xyz": [
253
+ -0.47978339849856655,
254
+ -0.5271598256737171,
255
+ 0.5190738073855855
256
+ ]
257
+ }
258
+ },
259
+ "grasp_32": {
260
+ "confidence": 0.9551962614059448,
261
+ "position": [
262
+ -0.008230431383708492,
263
+ -0.10589506558608264,
264
+ 0.0672838855534792
265
+ ],
266
+ "orientation": {
267
+ "w": 0.7128135328435966,
268
+ "xyz": [
269
+ -0.6997377830237994,
270
+ 0.03622514413870359,
271
+ -0.030848684511647382
272
+ ]
273
+ }
274
+ },
275
+ "grasp_33": {
276
+ "confidence": 0.9551353454589844,
277
+ "position": [
278
+ 0.05048318029730581,
279
+ 0.07173696823883802,
280
+ 0.11632917262613773
281
+ ],
282
+ "orientation": {
283
+ "w": 0.4944229638717765,
284
+ "xyz": [
285
+ 0.8090611570445886,
286
+ -0.27146570158289507,
287
+ -0.1651434219762499
288
+ ]
289
+ }
290
+ },
291
+ "grasp_34": {
292
+ "confidence": 0.9534101486206055,
293
+ "position": [
294
+ 0.03157475413172506,
295
+ 0.08428023674059659,
296
+ 0.1121159065514803
297
+ ],
298
+ "orientation": {
299
+ "w": 0.10399964397593058,
300
+ "xyz": [
301
+ -0.1397074710711389,
302
+ -0.8389803256799636,
303
+ 0.5155365260597241
304
+ ]
305
+ }
306
+ },
307
+ "grasp_35": {
308
+ "confidence": 0.9533233046531677,
309
+ "position": [
310
+ 0.09508433015435003,
311
+ 0.000559817417524755,
312
+ 0.09991025365889072
313
+ ],
314
+ "orientation": {
315
+ "w": 0.3968063205012295,
316
+ "xyz": [
317
+ 0.6009532336737006,
318
+ -0.5718157589057651,
319
+ -0.3929716183319377
320
+ ]
321
+ }
322
+ },
323
+ "grasp_36": {
324
+ "confidence": 0.9528213739395142,
325
+ "position": [
326
+ -0.08393886117846705,
327
+ -0.03905324719380587,
328
+ 0.11489279754459858
329
+ ],
330
+ "orientation": {
331
+ "w": 0.4443335562873887,
332
+ "xyz": [
333
+ -0.7181976366308923,
334
+ 0.45199688016134365,
335
+ -0.2871561697390716
336
+ ]
337
+ }
338
+ },
339
+ "grasp_37": {
340
+ "confidence": 0.9527426958084106,
341
+ "position": [
342
+ 0.04496720255701803,
343
+ 0.0805621437029913,
344
+ 0.10804608650505543
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5133369306658286,
348
+ "xyz": [
349
+ 0.824202558721012,
350
+ -0.19142776353726232,
351
+ -0.14328555111889413
352
+ ]
353
+ }
354
+ },
355
+ "grasp_38": {
356
+ "confidence": 0.9524145126342773,
357
+ "position": [
358
+ -0.030765628354856744,
359
+ 0.09577388979960233,
360
+ 0.07338343746960163
361
+ ],
362
+ "orientation": {
363
+ "w": 0.09355689509356371,
364
+ "xyz": [
365
+ -0.12818476657206887,
366
+ 0.6993408695359401,
367
+ -0.6969491525183399
368
+ ]
369
+ }
370
+ },
371
+ "grasp_39": {
372
+ "confidence": 0.9521766901016235,
373
+ "position": [
374
+ 0.028360821394016966,
375
+ 0.08530607738066465,
376
+ 0.11069508083164692
377
+ ],
378
+ "orientation": {
379
+ "w": 0.520367948963357,
380
+ "xyz": [
381
+ 0.8442227187968723,
382
+ -0.07957397680437206,
383
+ -0.10086218803110966
384
+ ]
385
+ }
386
+ }
387
+ }
388
+ },
389
+ {
390
+ "part_name": "neck ring",
391
+ "mask_color": "Yellow",
392
+ "graspable": false,
393
+ "grasp_scenarios": [],
394
+ "functional_labels": [
395
+ "seal transition between neck and pump",
396
+ "support pump assembly",
397
+ "provide structural interface"
398
+ ],
399
+ "semantic_description": "Thin white plastic ring at the top of the collar, hard and smooth with a narrow circular band shape between the bottle neck and pump assembly.",
400
+ "id": 3,
401
+ "grasp_group": {}
402
+ },
403
+ {
404
+ "part_name": "pump head",
405
+ "mask_color": "Purple",
406
+ "graspable": true,
407
+ "grasp_scenarios": [
408
+ {
409
+ "scenario": "pinch the pump head to rotate or unlock the dispenser",
410
+ "confidence": 0.58
411
+ },
412
+ {
413
+ "scenario": "grasp the pump head to manipulate the nozzle orientation",
414
+ "confidence": 0.46
415
+ }
416
+ ],
417
+ "functional_labels": [
418
+ "dispense sanitizer when pressed",
419
+ "provide pressing surface",
420
+ "direct fluid through the spout"
421
+ ],
422
+ "semantic_description": "Curved white plastic pump head with a smooth hard semi-gloss surface, medium-sized top-mounted form, and an angled spout used for dispensing.",
423
+ "id": 5,
424
+ "grasp_group": {
425
+ "grasp_40": {
426
+ "confidence": 0.9741070866584778,
427
+ "position": [
428
+ 0.096659673465183,
429
+ 0.0016599640948697925,
430
+ 0.10078194923698902
431
+ ],
432
+ "orientation": {
433
+ "w": 0.4472944727328823,
434
+ "xyz": [
435
+ 0.5662326023615232,
436
+ -0.522228465784478,
437
+ -0.4545170230144306
438
+ ]
439
+ }
440
+ },
441
+ "grasp_41": {
442
+ "confidence": 0.9709575176239014,
443
+ "position": [
444
+ 0.08024643184035085,
445
+ 0.0368302232818678,
446
+ 0.1346071008592844
447
+ ],
448
+ "orientation": {
449
+ "w": 0.28879204323793994,
450
+ "xyz": [
451
+ -0.44792100284787917,
452
+ -0.7309579441535182,
453
+ 0.42622343301262544
454
+ ]
455
+ }
456
+ },
457
+ "grasp_42": {
458
+ "confidence": 0.9703903198242188,
459
+ "position": [
460
+ 0.08750230641453527,
461
+ -0.003254300798289478,
462
+ 0.13450432009994984
463
+ ],
464
+ "orientation": {
465
+ "w": 0.3470727687438264,
466
+ "xyz": [
467
+ 0.6162090592224442,
468
+ -0.5995549609509189,
469
+ -0.3746474840804709
470
+ ]
471
+ }
472
+ },
473
+ "grasp_43": {
474
+ "confidence": 0.9698734283447266,
475
+ "position": [
476
+ 0.07843655170290731,
477
+ 0.034218053449876606,
478
+ 0.13623026199638844
479
+ ],
480
+ "orientation": {
481
+ "w": 0.28116434042536387,
482
+ "xyz": [
483
+ -0.4639828080609312,
484
+ -0.7268885826706452,
485
+ 0.42106953805769964
486
+ ]
487
+ }
488
+ },
489
+ "grasp_45": {
490
+ "confidence": 0.9654005765914917,
491
+ "position": [
492
+ 0.09074021698324941,
493
+ -0.03773719153832644,
494
+ 0.09795712120831013
495
+ ],
496
+ "orientation": {
497
+ "w": 0.567295119558348,
498
+ "xyz": [
499
+ -0.6027205482207884,
500
+ -0.4245185403878329,
501
+ 0.36699890591757295
502
+ ]
503
+ }
504
+ },
505
+ "grasp_46": {
506
+ "confidence": 0.9635831713676453,
507
+ "position": [
508
+ 0.07675404669134878,
509
+ 0.04468518786597997,
510
+ 0.13379968889057636
511
+ ],
512
+ "orientation": {
513
+ "w": 0.4456020462162697,
514
+ "xyz": [
515
+ 0.7607941788785156,
516
+ -0.38318664583485884,
517
+ -0.2753162331688224
518
+ ]
519
+ }
520
+ },
521
+ "grasp_48": {
522
+ "confidence": 0.961711585521698,
523
+ "position": [
524
+ -0.0603740829101298,
525
+ -0.06421787373255938,
526
+ 0.1333222482353449
527
+ ],
528
+ "orientation": {
529
+ "w": 0.485531498143306,
530
+ "xyz": [
531
+ -0.7678886433975981,
532
+ 0.3831972567077788,
533
+ -0.16663150393411563
534
+ ]
535
+ }
536
+ },
537
+ "grasp_49": {
538
+ "confidence": 0.9613001346588135,
539
+ "position": [
540
+ -0.04144860609085299,
541
+ -0.02383050590287894,
542
+ 0.17508103884756565
543
+ ],
544
+ "orientation": {
545
+ "w": 0.21462145272793307,
546
+ "xyz": [
547
+ -0.7759018197178719,
548
+ 0.5837846231144561,
549
+ -0.1054016698281335
550
+ ]
551
+ }
552
+ },
553
+ "grasp_53": {
554
+ "confidence": 0.955635130405426,
555
+ "position": [
556
+ -0.04218783779651858,
557
+ 0.015101268072612584,
558
+ 0.17706825770437717
559
+ ],
560
+ "orientation": {
561
+ "w": 0.1298040685904062,
562
+ "xyz": [
563
+ -0.5604813057897378,
564
+ 0.7937035160833924,
565
+ -0.19760146303726495
566
+ ]
567
+ }
568
+ },
569
+ "grasp_54": {
570
+ "confidence": 0.9545518159866333,
571
+ "position": [
572
+ 0.04240609900443815,
573
+ 0.048011659760959446,
574
+ 0.16494090296328068
575
+ ],
576
+ "orientation": {
577
+ "w": 0.31379617836412416,
578
+ "xyz": [
579
+ 0.8960282051714626,
580
+ -0.2908741908916303,
581
+ -0.11856483059667296
582
+ ]
583
+ }
584
+ },
585
+ "grasp_56": {
586
+ "confidence": 0.9542492032051086,
587
+ "position": [
588
+ 0.06833337069838308,
589
+ 0.05377508618403226,
590
+ 0.13862615264952183
591
+ ],
592
+ "orientation": {
593
+ "w": 0.22723109758099,
594
+ "xyz": [
595
+ -0.38214534957315244,
596
+ -0.7756927097220713,
597
+ 0.447919390265461
598
+ ]
599
+ }
600
+ },
601
+ "grasp_58": {
602
+ "confidence": 0.9521209001541138,
603
+ "position": [
604
+ -0.08377246736199595,
605
+ 0.010870980215258896,
606
+ 0.1403969470411539
607
+ ],
608
+ "orientation": {
609
+ "w": 0.36091823641308923,
610
+ "xyz": [
611
+ 0.6718783361761226,
612
+ 0.550352403479447,
613
+ 0.3397495547989231
614
+ ]
615
+ }
616
+ },
617
+ "grasp_59": {
618
+ "confidence": 0.9519169330596924,
619
+ "position": [
620
+ 0.08410271079628728,
621
+ -0.01304083305876702,
622
+ 0.14184930361807346
623
+ ],
624
+ "orientation": {
625
+ "w": 0.3138054582593606,
626
+ "xyz": [
627
+ 0.5910739361256688,
628
+ -0.636802340008724,
629
+ -0.3829366999374115
630
+ ]
631
+ }
632
+ }
633
+ }
634
+ },
635
+ {
636
+ "part_name": "spout tip",
637
+ "mask_color": "Cyan",
638
+ "graspable": false,
639
+ "grasp_scenarios": [],
640
+ "functional_labels": [
641
+ "outlet for sanitizer",
642
+ "direct dispensing stream",
643
+ "indicate nozzle direction"
644
+ ],
645
+ "semantic_description": "Small white plastic tip at the end of the pump spout, smooth and hard with a tiny protruding outlet opening.",
646
+ "id": 6,
647
+ "grasp_group": {}
648
+ }
649
+ ],
650
+ "quality_check": {
651
+ "success": true,
652
+ "message": "YES"
653
+ }
654
+ }
dataset/bathroom_supplies/bath_products/b57b5cb242f655fb8e6e8bc93dbbbb6d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83a56f054d1e901f0a9f0fb38631675a3b78fd906022714d7adc72e8c4f6241b
3
+ size 37328008