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
c2aa77e
·
verified ·
1 Parent(s): 8d01006

Add asset bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/affordance_annot.json +646 -0
  3. dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5629,3 +5629,4 @@ dataset/bathroom_supplies/bath_products/75f2beae0e115388a0a354660802446a/afforda
5629
  dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5630
  dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5631
  dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5629
  dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5630
  dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5631
  dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5632
+ dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/affordance_annot.json ADDED
@@ -0,0 +1,646 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 lotion bottle",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body while pressing the pump",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize the bottle body during dispensing or placement",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain lotion",
23
+ "main grasp surface",
24
+ "support dispensing",
25
+ "provide structural housing",
26
+ "stand upright on a surface"
27
+ ],
28
+ "semantic_description": "Large white plastic bottle body with a glossy smooth hard surface, rounded oval shape tapering toward the top, occupying most of the object and covered by blue printed branding and wave graphics.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_2": {
32
+ "confidence": 0.9706365466117859,
33
+ "position": [
34
+ -0.009394875340149156,
35
+ -0.09728807560168207,
36
+ -0.13901460357010365
37
+ ],
38
+ "orientation": {
39
+ "w": 0.8974688632949593,
40
+ "xyz": [
41
+ -0.43915997392015926,
42
+ 0.024411904268821227,
43
+ -0.03304868609292314
44
+ ]
45
+ }
46
+ },
47
+ "grasp_5": {
48
+ "confidence": 0.9688476920127869,
49
+ "position": [
50
+ -0.009001241609439603,
51
+ 0.005397667409852147,
52
+ -0.17702964134514332
53
+ ],
54
+ "orientation": {
55
+ "w": 0.048782132527186335,
56
+ "xyz": [
57
+ 0.05402762732463334,
58
+ -0.033409559630486974,
59
+ 0.9967873997784421
60
+ ]
61
+ }
62
+ },
63
+ "grasp_9": {
64
+ "confidence": 0.9679150581359863,
65
+ "position": [
66
+ -0.0018648447785380995,
67
+ -0.036367170279845595,
68
+ -0.17031865008175373
69
+ ],
70
+ "orientation": {
71
+ "w": 0.07210495488280426,
72
+ "xyz": [
73
+ -0.016597403110891442,
74
+ -0.12484531257316434,
75
+ -0.9894134876884548
76
+ ]
77
+ }
78
+ },
79
+ "grasp_12": {
80
+ "confidence": 0.9673333168029785,
81
+ "position": [
82
+ 0.01470434518159891,
83
+ -0.024296507006511092,
84
+ -0.17504564113914967
85
+ ],
86
+ "orientation": {
87
+ "w": 0.9966129170351921,
88
+ "xyz": [
89
+ -0.05308039272584501,
90
+ -0.05479561945174116,
91
+ 0.03070188260636642
92
+ ]
93
+ }
94
+ },
95
+ "grasp_19": {
96
+ "confidence": 0.9661542177200317,
97
+ "position": [
98
+ 0.0037342730593081797,
99
+ -0.015016734367236495,
100
+ -0.1774891335517168
101
+ ],
102
+ "orientation": {
103
+ "w": 0.9988680137817925,
104
+ "xyz": [
105
+ -0.005788803900063223,
106
+ -0.004144346193510673,
107
+ 0.047031959215528656
108
+ ]
109
+ }
110
+ }
111
+ }
112
+ },
113
+ {
114
+ "part_name": "pump collar",
115
+ "mask_color": "Green",
116
+ "graspable": true,
117
+ "grasp_scenarios": [
118
+ {
119
+ "scenario": "grasp the collar to stabilize the top during cap or pump manipulation",
120
+ "confidence": 0.56
121
+ },
122
+ {
123
+ "scenario": "pinch the collar to reorient the bottle in a precise top-side grip",
124
+ "confidence": 0.42
125
+ }
126
+ ],
127
+ "functional_labels": [
128
+ "mount the pump head",
129
+ "connect pump to bottle neck",
130
+ "seal the bottle opening area",
131
+ "support top assembly"
132
+ ],
133
+ "semantic_description": "Short cylindrical white plastic collar with a glossy smooth hard finish around the bottle neck beneath the pump head, smaller than the body and visually plain.",
134
+ "id": 1,
135
+ "grasp_group": {
136
+ "grasp_20": {
137
+ "confidence": 0.959312915802002,
138
+ "position": [
139
+ 0.039646408908083686,
140
+ 0.09638046124018729,
141
+ 0.11032967083156109
142
+ ],
143
+ "orientation": {
144
+ "w": 0.6441397065592224,
145
+ "xyz": [
146
+ 0.734340501899999,
147
+ -0.0490577502644276,
148
+ -0.20837802869316482
149
+ ]
150
+ }
151
+ },
152
+ "grasp_21": {
153
+ "confidence": 0.9587268829345703,
154
+ "position": [
155
+ 0.018093568660333403,
156
+ 0.10408480861224234,
157
+ 0.09832129441201687
158
+ ],
159
+ "orientation": {
160
+ "w": 0.7150135848592386,
161
+ "xyz": [
162
+ 0.6899501814335258,
163
+ 0.005889227384153095,
164
+ -0.11264829163108929
165
+ ]
166
+ }
167
+ },
168
+ "grasp_22": {
169
+ "confidence": 0.9534388780593872,
170
+ "position": [
171
+ -0.011521524362251512,
172
+ 0.10354246594943106,
173
+ 0.12262017838656902
174
+ ],
175
+ "orientation": {
176
+ "w": 0.062328753280220014,
177
+ "xyz": [
178
+ -0.0018817780516533077,
179
+ 0.7532256861437132,
180
+ -0.6547997030842568
181
+ ]
182
+ }
183
+ },
184
+ "grasp_23": {
185
+ "confidence": 0.9533678293228149,
186
+ "position": [
187
+ 0.05052058716864849,
188
+ -0.09715951583348215,
189
+ 0.10771260224282742
190
+ ],
191
+ "orientation": {
192
+ "w": 0.6481192239148192,
193
+ "xyz": [
194
+ -0.7144726840895204,
195
+ -0.11333580434985224,
196
+ 0.23796060752641557
197
+ ]
198
+ }
199
+ },
200
+ "grasp_24": {
201
+ "confidence": 0.9525337219238281,
202
+ "position": [
203
+ 0.039837847851231345,
204
+ 0.09004912176169455,
205
+ 0.12425484322011471
206
+ ],
207
+ "orientation": {
208
+ "w": 0.5794093134482323,
209
+ "xyz": [
210
+ 0.7882504686469393,
211
+ -0.05129288813190158,
212
+ -0.20078616933050078
213
+ ]
214
+ }
215
+ },
216
+ "grasp_25": {
217
+ "confidence": 0.9522554874420166,
218
+ "position": [
219
+ -0.040844698049113504,
220
+ 0.10011944570578635,
221
+ 0.10750614665448666
222
+ ],
223
+ "orientation": {
224
+ "w": 0.12795033633727063,
225
+ "xyz": [
226
+ -0.14065906319624225,
227
+ 0.722248716085982,
228
+ -0.6649816023651217
229
+ ]
230
+ }
231
+ },
232
+ "grasp_26": {
233
+ "confidence": 0.9519835710525513,
234
+ "position": [
235
+ 0.02472765875609184,
236
+ 0.09962138184346259,
237
+ 0.11242981813848019
238
+ ],
239
+ "orientation": {
240
+ "w": 0.6091113761116017,
241
+ "xyz": [
242
+ 0.7834104117911701,
243
+ -0.0275405743318502,
244
+ -0.12038677233854408
245
+ ]
246
+ }
247
+ },
248
+ "grasp_27": {
249
+ "confidence": 0.9500060081481934,
250
+ "position": [
251
+ 0.03983659615369106,
252
+ 0.10194088169373572,
253
+ 0.10443497262895107
254
+ ],
255
+ "orientation": {
256
+ "w": 0.6635862163736106,
257
+ "xyz": [
258
+ 0.7189343694475558,
259
+ -0.07539646332075045,
260
+ -0.19261900006158117
261
+ ]
262
+ }
263
+ },
264
+ "grasp_28": {
265
+ "confidence": 0.9492186903953552,
266
+ "position": [
267
+ 0.050796370409443625,
268
+ 0.08530693151988089,
269
+ 0.11436897329986095
270
+ ],
271
+ "orientation": {
272
+ "w": 0.5908542634607417,
273
+ "xyz": [
274
+ 0.764823806820508,
275
+ -0.1587744275336591,
276
+ -0.20180799050634646
277
+ ]
278
+ }
279
+ },
280
+ "grasp_29": {
281
+ "confidence": 0.947667121887207,
282
+ "position": [
283
+ 0.0126367448046949,
284
+ 0.10029209055937827,
285
+ 0.12842858396470547
286
+ ],
287
+ "orientation": {
288
+ "w": 0.5685506232622728,
289
+ "xyz": [
290
+ 0.8201570739772552,
291
+ -0.036600815376476525,
292
+ -0.05246849632803785
293
+ ]
294
+ }
295
+ },
296
+ "grasp_30": {
297
+ "confidence": 0.9471485614776611,
298
+ "position": [
299
+ 0.05510210191459919,
300
+ -0.0935529803391546,
301
+ 0.10956509970128536
302
+ ],
303
+ "orientation": {
304
+ "w": 0.6098447642780475,
305
+ "xyz": [
306
+ -0.7396846575691844,
307
+ -0.1631257567811426,
308
+ 0.23312219609893597
309
+ ]
310
+ }
311
+ },
312
+ "grasp_31": {
313
+ "confidence": 0.946200430393219,
314
+ "position": [
315
+ 0.011590036019697436,
316
+ 0.09990653791464865,
317
+ 0.12267946265637875
318
+ ],
319
+ "orientation": {
320
+ "w": 0.5673934172657126,
321
+ "xyz": [
322
+ 0.8197325009900327,
323
+ 0.02325874115586657,
324
+ -0.07458128333575
325
+ ]
326
+ }
327
+ },
328
+ "grasp_32": {
329
+ "confidence": 0.9458056688308716,
330
+ "position": [
331
+ 0.027237593583777198,
332
+ 0.08910717465914786,
333
+ 0.14474503509700298
334
+ ],
335
+ "orientation": {
336
+ "w": 0.0822627405605287,
337
+ "xyz": [
338
+ -0.1467681217307232,
339
+ -0.8298884691496587,
340
+ 0.5319559086348631
341
+ ]
342
+ }
343
+ },
344
+ "grasp_33": {
345
+ "confidence": 0.9454348683357239,
346
+ "position": [
347
+ -0.02643699812142586,
348
+ 0.10371340462006629,
349
+ 0.10279178433120251
350
+ ],
351
+ "orientation": {
352
+ "w": 0.10064218582177752,
353
+ "xyz": [
354
+ -0.07828409055511608,
355
+ 0.7267794689402669,
356
+ -0.6749328523089363
357
+ ]
358
+ }
359
+ },
360
+ "grasp_34": {
361
+ "confidence": 0.9438784122467041,
362
+ "position": [
363
+ 0.01643019673974777,
364
+ 0.09647680469788611,
365
+ 0.1342118512839079
366
+ ],
367
+ "orientation": {
368
+ "w": 0.5537062897172097,
369
+ "xyz": [
370
+ 0.8266123388012173,
371
+ 0.01307951262095397,
372
+ -0.09975125271785448
373
+ ]
374
+ }
375
+ },
376
+ "grasp_35": {
377
+ "confidence": 0.9433293342590332,
378
+ "position": [
379
+ 0.04687999134512211,
380
+ 0.09725203015841544,
381
+ 0.09640432707965374
382
+ ],
383
+ "orientation": {
384
+ "w": 0.6615062615908787,
385
+ "xyz": [
386
+ 0.712956712510142,
387
+ -0.12607969371121974,
388
+ -0.19546381454498293
389
+ ]
390
+ }
391
+ },
392
+ "grasp_36": {
393
+ "confidence": 0.9428644180297852,
394
+ "position": [
395
+ 0.03464468141646648,
396
+ 0.0956707785371691,
397
+ 0.12489533983170986
398
+ ],
399
+ "orientation": {
400
+ "w": 0.5789207692022559,
401
+ "xyz": [
402
+ 0.7971935697176799,
403
+ -0.09283501173305853,
404
+ -0.14392642559159916
405
+ ]
406
+ }
407
+ },
408
+ "grasp_37": {
409
+ "confidence": 0.9423006176948547,
410
+ "position": [
411
+ 0.0252116782739904,
412
+ 0.09595115878619254,
413
+ 0.1381105612963438
414
+ ],
415
+ "orientation": {
416
+ "w": 0.5405626647910166,
417
+ "xyz": [
418
+ 0.8331306265183965,
419
+ -0.043615769742937904,
420
+ -0.10854966246299572
421
+ ]
422
+ }
423
+ },
424
+ "grasp_38": {
425
+ "confidence": 0.942025899887085,
426
+ "position": [
427
+ 0.05708695893736149,
428
+ 0.08517068275250494,
429
+ 0.10786774568259716
430
+ ],
431
+ "orientation": {
432
+ "w": 0.6499425220506164,
433
+ "xyz": [
434
+ 0.698727022529201,
435
+ -0.14379336060639702,
436
+ -0.26206628066861326
437
+ ]
438
+ }
439
+ },
440
+ "grasp_39": {
441
+ "confidence": 0.9416324496269226,
442
+ "position": [
443
+ 0.019464970953777083,
444
+ 0.10093851783312857,
445
+ 0.10922971181571484
446
+ ],
447
+ "orientation": {
448
+ "w": 0.6212577990860293,
449
+ "xyz": [
450
+ 0.7764963886670418,
451
+ -0.010216023740374669,
452
+ -0.1048224132557608
453
+ ]
454
+ }
455
+ }
456
+ }
457
+ },
458
+ {
459
+ "part_name": "pump head",
460
+ "mask_color": "Blue",
461
+ "graspable": true,
462
+ "grasp_scenarios": [
463
+ {
464
+ "scenario": "pinch the pump head to rotate or unlock it before use",
465
+ "confidence": 0.64
466
+ },
467
+ {
468
+ "scenario": "grasp the pump head to pull or manipulate the dispenser during maintenance",
469
+ "confidence": 0.38
470
+ }
471
+ ],
472
+ "functional_labels": [
473
+ "dispense lotion when pressed",
474
+ "provide press surface",
475
+ "direct product flow",
476
+ "enable pump actuation"
477
+ ],
478
+ "semantic_description": "Small white plastic pump head with a glossy smooth hard surface, curved angled spout-like shape at the top of the bottle, sized for pressing and dispensing.",
479
+ "id": 2,
480
+ "grasp_group": {
481
+ "grasp_40": {
482
+ "confidence": 0.8981665372848511,
483
+ "position": [
484
+ -0.015972815997884027,
485
+ -0.08097546151839197,
486
+ 0.20031082443892956
487
+ ],
488
+ "orientation": {
489
+ "w": 0.08187591269181221,
490
+ "xyz": [
491
+ 0.03648948666080099,
492
+ 0.9156229047564465,
493
+ 0.39191778292070645
494
+ ]
495
+ }
496
+ },
497
+ "grasp_45": {
498
+ "confidence": 0.8086265921592712,
499
+ "position": [
500
+ -0.036376119203850976,
501
+ -0.07025044760666788,
502
+ 0.20363576523959637
503
+ ],
504
+ "orientation": {
505
+ "w": 0.1647916029665685,
506
+ "xyz": [
507
+ 0.10491306490222926,
508
+ 0.9190374062600866,
509
+ 0.3423554034906729
510
+ ]
511
+ }
512
+ },
513
+ "grasp_48": {
514
+ "confidence": 0.9189708828926086,
515
+ "position": [
516
+ 0.01852513795347477,
517
+ -0.04886845103465021,
518
+ 0.220235763117671
519
+ ],
520
+ "orientation": {
521
+ "w": 0.05110178046318308,
522
+ "xyz": [
523
+ 0.12400675091600193,
524
+ -0.962263765379309,
525
+ -0.23676862038451077
526
+ ]
527
+ }
528
+ },
529
+ "grasp_49": {
530
+ "confidence": 0.908633291721344,
531
+ "position": [
532
+ 0.021395928613856086,
533
+ -0.025786900660023093,
534
+ 0.22573496215045452
535
+ ],
536
+ "orientation": {
537
+ "w": 0.10833720804695271,
538
+ "xyz": [
539
+ -0.9864634567437823,
540
+ 0.05015267609002058,
541
+ 0.11241711143197262
542
+ ]
543
+ }
544
+ },
545
+ "grasp_51": {
546
+ "confidence": 0.8848939538002014,
547
+ "position": [
548
+ -0.02664000967888569,
549
+ -0.04686385369859636,
550
+ 0.2154004704207182
551
+ ],
552
+ "orientation": {
553
+ "w": 0.14223215054976793,
554
+ "xyz": [
555
+ 0.023129633746209403,
556
+ 0.9627935046554634,
557
+ 0.22861256042922187
558
+ ]
559
+ }
560
+ },
561
+ "grasp_52": {
562
+ "confidence": 0.8840792179107666,
563
+ "position": [
564
+ 0.030244642324760207,
565
+ -0.05850521824322641,
566
+ 0.20669114403426647
567
+ ],
568
+ "orientation": {
569
+ "w": 0.15857723950656322,
570
+ "xyz": [
571
+ -0.05421216898919498,
572
+ -0.9412624113149708,
573
+ -0.29315417938261107
574
+ ]
575
+ }
576
+ },
577
+ "grasp_53": {
578
+ "confidence": 0.8832384347915649,
579
+ "position": [
580
+ -0.03137421289829945,
581
+ -0.04261398292146623,
582
+ 0.21543814055621624
583
+ ],
584
+ "orientation": {
585
+ "w": 0.15407237806861845,
586
+ "xyz": [
587
+ 0.05984057097312638,
588
+ 0.9618112071775945,
589
+ 0.21817426550688535
590
+ ]
591
+ }
592
+ },
593
+ "grasp_54": {
594
+ "confidence": 0.8593046069145203,
595
+ "position": [
596
+ 0.020645779944970855,
597
+ -0.037231638794764876,
598
+ 0.2189322840422392
599
+ ],
600
+ "orientation": {
601
+ "w": 0.10326973059751673,
602
+ "xyz": [
603
+ 0.014720765422962039,
604
+ -0.974983856629921,
605
+ -0.19627822375068443
606
+ ]
607
+ }
608
+ },
609
+ "grasp_59": {
610
+ "confidence": 0.5458640456199646,
611
+ "position": [
612
+ 0.027752452917411574,
613
+ 0.09259323426522315,
614
+ 0.1879966240376234
615
+ ],
616
+ "orientation": {
617
+ "w": 0.46637045398492116,
618
+ "xyz": [
619
+ 0.8708410247973285,
620
+ -0.12389766573592748,
621
+ -0.09372234314733002
622
+ ]
623
+ }
624
+ }
625
+ }
626
+ },
627
+ {
628
+ "part_name": "pump stem",
629
+ "mask_color": "Purple",
630
+ "graspable": false,
631
+ "grasp_scenarios": [],
632
+ "functional_labels": [
633
+ "connect pump head to pump mechanism",
634
+ "transmit press motion",
635
+ "support dispenser alignment"
636
+ ],
637
+ "semantic_description": "Tiny narrow white plastic stem section with a smooth glossy finish between the collar and pump head, mostly recessed and serving as a connector in the top assembly.",
638
+ "id": 5,
639
+ "grasp_group": {}
640
+ }
641
+ ],
642
+ "quality_check": {
643
+ "success": true,
644
+ "message": "YES"
645
+ }
646
+ }
dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55f100fb8835524297e7cc3e5f18acec0fb72d30334c9c6019edca7f1cd7c4fb
3
+ size 3781276