xinjjj commited on
Commit
d5dbfb7
·
verified ·
1 Parent(s): 9d45a68

Add asset bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4

Browse files
.gitattributes CHANGED
@@ -5592,4 +5592,4 @@ dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/afforda
5592
  dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5593
  dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5594
  dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5595
- dataset/bathroom_supplies/bath_products/40569bec32fb54caae7ad1f3e347138f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5592
  dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5593
  dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5594
  dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5595
+ dataset/bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,1011 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "pump nozzle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the pump nozzle to rotate or reorient the dispenser head for unlocking or positioning",
10
+ "confidence": 0.46
11
+ },
12
+ {
13
+ "scenario": "pinch the pump nozzle lightly to stabilize the dispenser head during manipulation",
14
+ "confidence": 0.24
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "dispense sanitizer",
19
+ "direct liquid flow",
20
+ "provide press surface",
21
+ "indicate dispensing direction"
22
+ ],
23
+ "semantic_description": "Small gold plastic pump head with a glossy smooth hard surface and short curved spout, mounted at the top and projecting sideways as the main dispensing interface.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_40": {
27
+ "confidence": 0.958676815032959,
28
+ "position": [
29
+ -0.011912656482309103,
30
+ -0.08615440526045859,
31
+ 0.11298917816020548
32
+ ],
33
+ "orientation": {
34
+ "w": 0.48978633883219724,
35
+ "xyz": [
36
+ -0.8686856610421567,
37
+ 0.06675520394075529,
38
+ -0.03222277672597061
39
+ ]
40
+ }
41
+ },
42
+ "grasp_41": {
43
+ "confidence": 0.9499397277832031,
44
+ "position": [
45
+ -0.027345091570168734,
46
+ -0.08432206162251532,
47
+ 0.10789473936893046
48
+ ],
49
+ "orientation": {
50
+ "w": 0.49556132950898796,
51
+ "xyz": [
52
+ -0.8452237477247445,
53
+ 0.19139604076456762,
54
+ -0.05816648998409566
55
+ ]
56
+ }
57
+ },
58
+ "grasp_42": {
59
+ "confidence": 0.9340744614601135,
60
+ "position": [
61
+ 0.0019339572172611952,
62
+ -0.008812654064968228,
63
+ 0.15516353980638087
64
+ ],
65
+ "orientation": {
66
+ "w": 0.03895031633376619,
67
+ "xyz": [
68
+ -0.9853066631155722,
69
+ -0.16616962719899203,
70
+ 0.006427089084805083
71
+ ]
72
+ }
73
+ },
74
+ "grasp_44": {
75
+ "confidence": 0.9299650192260742,
76
+ "position": [
77
+ 0.00731216324493289,
78
+ -0.009198546642437577,
79
+ 0.1562446339521557
80
+ ],
81
+ "orientation": {
82
+ "w": 0.03532766767758976,
83
+ "xyz": [
84
+ -0.9962785451026268,
85
+ -0.07392308131559627,
86
+ 0.026765547135505083
87
+ ]
88
+ }
89
+ },
90
+ "grasp_45": {
91
+ "confidence": 0.929343044757843,
92
+ "position": [
93
+ 0.017058621626347303,
94
+ -0.04154185228981078,
95
+ 0.14745327667333186
96
+ ],
97
+ "orientation": {
98
+ "w": 0.2138556175005145,
99
+ "xyz": [
100
+ -0.9615287610126161,
101
+ -0.16221894777759882,
102
+ 0.05842285161600542
103
+ ]
104
+ }
105
+ },
106
+ "grasp_47": {
107
+ "confidence": 0.9210764765739441,
108
+ "position": [
109
+ 0.01469177333638072,
110
+ -0.03839448117651045,
111
+ 0.1478700174484402
112
+ ],
113
+ "orientation": {
114
+ "w": 0.18450451195917217,
115
+ "xyz": [
116
+ -0.9796497223712888,
117
+ -0.050288897715582426,
118
+ 0.060955174440864644
119
+ ]
120
+ }
121
+ },
122
+ "grasp_48": {
123
+ "confidence": 0.9200708270072937,
124
+ "position": [
125
+ 0.0026050182059407234,
126
+ 0.05068435496650636,
127
+ 0.14421501592732966
128
+ ],
129
+ "orientation": {
130
+ "w": 0.26107847356212827,
131
+ "xyz": [
132
+ 0.9647237918025636,
133
+ 0.03330050714237259,
134
+ -0.006091994469300721
135
+ ]
136
+ }
137
+ },
138
+ "grasp_49": {
139
+ "confidence": 0.9196294546127319,
140
+ "position": [
141
+ 0.01992098381742835,
142
+ 0.05241998634301126,
143
+ 0.1395680292043835
144
+ ],
145
+ "orientation": {
146
+ "w": 0.2754770686805229,
147
+ "xyz": [
148
+ 0.9577088847473881,
149
+ -0.03361387309289854,
150
+ -0.07600121211398819
151
+ ]
152
+ }
153
+ },
154
+ "grasp_50": {
155
+ "confidence": 0.9155020713806152,
156
+ "position": [
157
+ 0.0013258993858471513,
158
+ -0.00969842472113669,
159
+ 0.1550045593176037
160
+ ],
161
+ "orientation": {
162
+ "w": 0.020148658987812103,
163
+ "xyz": [
164
+ 0.19398524074787524,
165
+ 0.9805451148376371,
166
+ 0.022249397318274
167
+ ]
168
+ }
169
+ },
170
+ "grasp_52": {
171
+ "confidence": 0.9127224087715149,
172
+ "position": [
173
+ 0.009809005539864302,
174
+ -0.009999075205996633,
175
+ 0.15703041688539088
176
+ ],
177
+ "orientation": {
178
+ "w": 0.03403287773709145,
179
+ "xyz": [
180
+ -0.9970517535012332,
181
+ 0.052166811010270306,
182
+ 0.04481280957568946
183
+ ]
184
+ }
185
+ },
186
+ "grasp_53": {
187
+ "confidence": 0.9043601751327515,
188
+ "position": [
189
+ 0.0037095826119184494,
190
+ -0.005228304537013173,
191
+ 0.1543276442680508
192
+ ],
193
+ "orientation": {
194
+ "w": 0.03597408444218952,
195
+ "xyz": [
196
+ 0.023505991442974543,
197
+ -0.9989519255193497,
198
+ -0.01576020672490243
199
+ ]
200
+ }
201
+ },
202
+ "grasp_54": {
203
+ "confidence": 0.9018749594688416,
204
+ "position": [
205
+ 0.0022167032584547997,
206
+ -0.007119517540559173,
207
+ 0.15401780442334712
208
+ ],
209
+ "orientation": {
210
+ "w": 0.02260297351615429,
211
+ "xyz": [
212
+ 0.04365016242786776,
213
+ 0.9984579156972052,
214
+ 0.025798439678421842
215
+ ]
216
+ }
217
+ },
218
+ "grasp_55": {
219
+ "confidence": 0.9007465243339539,
220
+ "position": [
221
+ -0.0018706049304455519,
222
+ 0.04635534412227571,
223
+ 0.1420738382730633
224
+ ],
225
+ "orientation": {
226
+ "w": 0.030114702627229716,
227
+ "xyz": [
228
+ -0.009129660883943314,
229
+ 0.9710016014648162,
230
+ -0.23699291957900237
231
+ ]
232
+ }
233
+ },
234
+ "grasp_57": {
235
+ "confidence": 0.8977223634719849,
236
+ "position": [
237
+ 0.003393955994397402,
238
+ -0.04815250285901129,
239
+ 0.14085963205434382
240
+ ],
241
+ "orientation": {
242
+ "w": 0.24365098908507452,
243
+ "xyz": [
244
+ -0.9695534291503312,
245
+ 0.014932951456819693,
246
+ 0.01942551161455572
247
+ ]
248
+ }
249
+ },
250
+ "grasp_58": {
251
+ "confidence": 0.8961849212646484,
252
+ "position": [
253
+ -0.005323023535311222,
254
+ 0.05018873861990869,
255
+ 0.1423273964319378
256
+ ],
257
+ "orientation": {
258
+ "w": 0.04746877485412319,
259
+ "xyz": [
260
+ 0.004511225320735335,
261
+ 0.967958822288513,
262
+ -0.24654022514346088
263
+ ]
264
+ }
265
+ },
266
+ "grasp_59": {
267
+ "confidence": 0.8954963088035583,
268
+ "position": [
269
+ 0.012221717741340399,
270
+ 0.00576804275624454,
271
+ 0.15542493597604334
272
+ ],
273
+ "orientation": {
274
+ "w": 0.04267321612452231,
275
+ "xyz": [
276
+ 0.9922962106831569,
277
+ -0.11031329245046122,
278
+ -0.03685382474284964
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "pump collar",
286
+ "mask_color": "Green",
287
+ "graspable": true,
288
+ "grasp_scenarios": [
289
+ {
290
+ "scenario": "grasp the pump collar to twist the dispenser assembly during opening or replacement",
291
+ "confidence": 0.55
292
+ },
293
+ {
294
+ "scenario": "hold the collar to stabilize the top while manipulating the bottle body",
295
+ "confidence": 0.31
296
+ }
297
+ ],
298
+ "functional_labels": [
299
+ "mount pump to bottle",
300
+ "connect dispenser to container",
301
+ "seal bottle opening",
302
+ "support pump mechanism"
303
+ ],
304
+ "semantic_description": "Short cylindrical gold plastic collar with a glossy smooth finish around the bottle neck, positioned directly beneath the nozzle and above the body.",
305
+ "id": 1,
306
+ "grasp_group": {
307
+ "grasp_20": {
308
+ "confidence": 0.9842764139175415,
309
+ "position": [
310
+ -0.023079943377524614,
311
+ -0.09956217207945883,
312
+ 0.031688792863860726
313
+ ],
314
+ "orientation": {
315
+ "w": 0.08741432188448835,
316
+ "xyz": [
317
+ 0.09892057492682677,
318
+ 0.7113504595924582,
319
+ 0.6903288925021318
320
+ ]
321
+ }
322
+ },
323
+ "grasp_21": {
324
+ "confidence": 0.9837348461151123,
325
+ "position": [
326
+ 0.02839588513597846,
327
+ -0.09534793742932379,
328
+ 0.03718307823874056
329
+ ],
330
+ "orientation": {
331
+ "w": 0.11491622956093937,
332
+ "xyz": [
333
+ 0.09150900588609182,
334
+ -0.7091971506298685,
335
+ -0.6895359044775787
336
+ ]
337
+ }
338
+ },
339
+ "grasp_22": {
340
+ "confidence": 0.9816128015518188,
341
+ "position": [
342
+ 0.04020332684740424,
343
+ 0.09506754181347787,
344
+ 0.03444570512510836
345
+ ],
346
+ "orientation": {
347
+ "w": 0.1467120964922811,
348
+ "xyz": [
349
+ -0.154519631034894,
350
+ -0.6934157163840489,
351
+ 0.688312348167078
352
+ ]
353
+ }
354
+ },
355
+ "grasp_23": {
356
+ "confidence": 0.9780899286270142,
357
+ "position": [
358
+ -0.03666074061766267,
359
+ -0.09126493730582297,
360
+ 0.04434149549342692
361
+ ],
362
+ "orientation": {
363
+ "w": 0.15228471836649926,
364
+ "xyz": [
365
+ 0.1474871137683603,
366
+ 0.7297094150628279,
367
+ 0.650062370386858
368
+ ]
369
+ }
370
+ },
371
+ "grasp_24": {
372
+ "confidence": 0.9777460098266602,
373
+ "position": [
374
+ 0.02428250154480338,
375
+ 0.09949946007691324,
376
+ 0.03637422458268702
377
+ ],
378
+ "orientation": {
379
+ "w": 0.6861904401052792,
380
+ "xyz": [
381
+ 0.7183370667162193,
382
+ -0.08426913557535476,
383
+ -0.07767400645675475
384
+ ]
385
+ }
386
+ },
387
+ "grasp_25": {
388
+ "confidence": 0.9776460528373718,
389
+ "position": [
390
+ 0.020851006265729666,
391
+ 0.09863664559088647,
392
+ 0.03630194650031626
393
+ ],
394
+ "orientation": {
395
+ "w": 0.6851125338093241,
396
+ "xyz": [
397
+ 0.7201166386560313,
398
+ -0.07835328970819766,
399
+ -0.07689996579979812
400
+ ]
401
+ }
402
+ },
403
+ "grasp_26": {
404
+ "confidence": 0.977168083190918,
405
+ "position": [
406
+ 0.029015108477324247,
407
+ 0.09983054897747934,
408
+ 0.04113714606501162
409
+ ],
410
+ "orientation": {
411
+ "w": 0.6838248614537693,
412
+ "xyz": [
413
+ 0.7147461019654542,
414
+ -0.10589131511051164,
415
+ -0.10153126595826727
416
+ ]
417
+ }
418
+ },
419
+ "grasp_27": {
420
+ "confidence": 0.9761486053466797,
421
+ "position": [
422
+ 0.022904967423528433,
423
+ 0.09625921002589166,
424
+ 0.040289810160174966
425
+ ],
426
+ "orientation": {
427
+ "w": 0.6644548142101513,
428
+ "xyz": [
429
+ 0.7389806525954,
430
+ -0.06772367579531158,
431
+ -0.08843584510480867
432
+ ]
433
+ }
434
+ },
435
+ "grasp_28": {
436
+ "confidence": 0.9749880433082581,
437
+ "position": [
438
+ 0.004507034085690975,
439
+ -0.1026336441282183,
440
+ 0.037282379576936364
441
+ ],
442
+ "orientation": {
443
+ "w": 0.009815371493943598,
444
+ "xyz": [
445
+ -0.017268989923032586,
446
+ 0.7014539974654754,
447
+ 0.7124378779298436
448
+ ]
449
+ }
450
+ },
451
+ "grasp_29": {
452
+ "confidence": 0.97434401512146,
453
+ "position": [
454
+ 0.012970833573490381,
455
+ 0.09950828901492059,
456
+ 0.03298944444395602
457
+ ],
458
+ "orientation": {
459
+ "w": 0.7050405003345739,
460
+ "xyz": [
461
+ 0.7060454384536818,
462
+ -0.03546012484786065,
463
+ -0.056216645866650664
464
+ ]
465
+ }
466
+ },
467
+ "grasp_30": {
468
+ "confidence": 0.9735795855522156,
469
+ "position": [
470
+ 0.025346807669848204,
471
+ 0.10148284188471735,
472
+ 0.02480292902328074
473
+ ],
474
+ "orientation": {
475
+ "w": 0.7096786437581007,
476
+ "xyz": [
477
+ 0.6922371367984403,
478
+ -0.08169797985073202,
479
+ -0.1024178164142838
480
+ ]
481
+ }
482
+ },
483
+ "grasp_31": {
484
+ "confidence": 0.972821056842804,
485
+ "position": [
486
+ 0.012298993300646544,
487
+ 0.10016468516550958,
488
+ 0.027420215541496873
489
+ ],
490
+ "orientation": {
491
+ "w": 0.7053870656397297,
492
+ "xyz": [
493
+ 0.706508998673351,
494
+ -0.02848649260387437,
495
+ -0.049625015474851736
496
+ ]
497
+ }
498
+ },
499
+ "grasp_32": {
500
+ "confidence": 0.9701043963432312,
501
+ "position": [
502
+ 0.005357367917895317,
503
+ 0.09973235032521188,
504
+ 0.036229664692655206
505
+ ],
506
+ "orientation": {
507
+ "w": 0.6961155120407427,
508
+ "xyz": [
509
+ 0.7173750940895484,
510
+ -0.008128158857396262,
511
+ -0.027020386930149506
512
+ ]
513
+ }
514
+ },
515
+ "grasp_33": {
516
+ "confidence": 0.9694190621376038,
517
+ "position": [
518
+ 0.0416372693143785,
519
+ 0.09286938956938684,
520
+ 0.03659474314190447
521
+ ],
522
+ "orientation": {
523
+ "w": 0.6814078800651451,
524
+ "xyz": [
525
+ 0.6971351475704788,
526
+ -0.1469762457593149,
527
+ -0.16758242804515283
528
+ ]
529
+ }
530
+ },
531
+ "grasp_34": {
532
+ "confidence": 0.969356119632721,
533
+ "position": [
534
+ -0.020429438445717096,
535
+ 0.09859120449982584,
536
+ 0.05167658464051783
537
+ ],
538
+ "orientation": {
539
+ "w": 0.059215290706889884,
540
+ "xyz": [
541
+ -0.08772478241723722,
542
+ 0.7804269366002481,
543
+ -0.616223748751295
544
+ ]
545
+ }
546
+ },
547
+ "grasp_35": {
548
+ "confidence": 0.9692524075508118,
549
+ "position": [
550
+ 0.019691045861691236,
551
+ 0.08885888359509408,
552
+ 0.0788506402168423
553
+ ],
554
+ "orientation": {
555
+ "w": 0.5116129344133625,
556
+ "xyz": [
557
+ 0.854335923089216,
558
+ -0.03911985115428174,
559
+ -0.08265575059191026
560
+ ]
561
+ }
562
+ },
563
+ "grasp_36": {
564
+ "confidence": 0.9688012599945068,
565
+ "position": [
566
+ 0.0038528935983777046,
567
+ 0.10239851078949869,
568
+ 0.044009031960740685
569
+ ],
570
+ "orientation": {
571
+ "w": 0.02226259675220257,
572
+ "xyz": [
573
+ 0.025094925854529895,
574
+ 0.7484272741106489,
575
+ -0.6623679014335673
576
+ ]
577
+ }
578
+ },
579
+ "grasp_37": {
580
+ "confidence": 0.9687605500221252,
581
+ "position": [
582
+ 0.014741057064384222,
583
+ 0.09169684699736536,
584
+ 0.07746830419637263
585
+ ],
586
+ "orientation": {
587
+ "w": 0.02388281717818376,
588
+ "xyz": [
589
+ -0.07059351084671858,
590
+ -0.8534069789760724,
591
+ 0.5158901971397608
592
+ ]
593
+ }
594
+ },
595
+ "grasp_38": {
596
+ "confidence": 0.9687367081642151,
597
+ "position": [
598
+ 0.015214221086353064,
599
+ 0.08959279558621347,
600
+ 0.08255836949683726
601
+ ],
602
+ "orientation": {
603
+ "w": 0.5111290713082047,
604
+ "xyz": [
605
+ 0.8572300850459237,
606
+ -0.03346521859368612,
607
+ -0.052761092674881535
608
+ ]
609
+ }
610
+ },
611
+ "grasp_39": {
612
+ "confidence": 0.968711793422699,
613
+ "position": [
614
+ 0.013007811736315489,
615
+ 0.09342245361767709,
616
+ 0.08001260296441615
617
+ ],
618
+ "orientation": {
619
+ "w": 0.5160193963268443,
620
+ "xyz": [
621
+ 0.854901862609039,
622
+ -0.038518592003197294,
623
+ -0.03719013299473853
624
+ ]
625
+ }
626
+ }
627
+ }
628
+ },
629
+ {
630
+ "part_name": "bottle body",
631
+ "mask_color": "Red",
632
+ "graspable": true,
633
+ "grasp_scenarios": [
634
+ {
635
+ "scenario": "grasp the bottle body to pick up and move the sanitizer bottle",
636
+ "confidence": 0.95
637
+ },
638
+ {
639
+ "scenario": "hold the bottle body while pressing the pump with another manipulator",
640
+ "confidence": 0.91
641
+ },
642
+ {
643
+ "scenario": "grasp the bottle body to place or reorient the bottle on a surface",
644
+ "confidence": 0.89
645
+ }
646
+ ],
647
+ "functional_labels": [
648
+ "contain sanitizer",
649
+ "main grasp surface",
650
+ "support standing",
651
+ "support pump during dispensing"
652
+ ],
653
+ "semantic_description": "Large white plastic bottle body with a smooth slightly glossy hard surface, flattened rounded rectangular shape, and a gold front label on the broad face.",
654
+ "id": 0,
655
+ "grasp_group": {
656
+ "grasp_0": {
657
+ "confidence": 0.9917284846305847,
658
+ "position": [
659
+ 0.026578571181744337,
660
+ 0.09871683618985116,
661
+ -0.047640749951824546
662
+ ],
663
+ "orientation": {
664
+ "w": 0.10814024575860468,
665
+ "xyz": [
666
+ -0.09594322748568607,
667
+ -0.6904385472485984,
668
+ 0.7087984176196669
669
+ ]
670
+ }
671
+ },
672
+ "grasp_1": {
673
+ "confidence": 0.9910233020782471,
674
+ "position": [
675
+ 0.022690465208142996,
676
+ 0.10117443255148828,
677
+ -0.03537610708735883
678
+ ],
679
+ "orientation": {
680
+ "w": 0.08685950211565797,
681
+ "xyz": [
682
+ -0.09313568353208912,
683
+ -0.7011480554063904,
684
+ 0.7015501234730617
685
+ ]
686
+ }
687
+ },
688
+ "grasp_2": {
689
+ "confidence": 0.9894434213638306,
690
+ "position": [
691
+ -0.0013159580412320793,
692
+ 0.10443817428313196,
693
+ -0.03331360942684114
694
+ ],
695
+ "orientation": {
696
+ "w": 0.011962203947136306,
697
+ "xyz": [
698
+ -0.00412423716369325,
699
+ 0.7154615769134104,
700
+ -0.698537492411911
701
+ ]
702
+ }
703
+ },
704
+ "grasp_3": {
705
+ "confidence": 0.989384114742279,
706
+ "position": [
707
+ 0.025831140112131834,
708
+ 0.09737822762690485,
709
+ -0.048208454390987754
710
+ ],
711
+ "orientation": {
712
+ "w": 0.7325276643850461,
713
+ "xyz": [
714
+ 0.6647260645895205,
715
+ -0.10430635393080068,
716
+ -0.10326017865363206
717
+ ]
718
+ }
719
+ },
720
+ "grasp_4": {
721
+ "confidence": 0.9893514513969421,
722
+ "position": [
723
+ 0.0031011435203254223,
724
+ 0.10542125604115427,
725
+ -0.0382654236163944
726
+ ],
727
+ "orientation": {
728
+ "w": 0.016808629488439725,
729
+ "xyz": [
730
+ -0.020360130250585494,
731
+ -0.7018379766549545,
732
+ 0.7118471673019273
733
+ ]
734
+ }
735
+ },
736
+ "grasp_5": {
737
+ "confidence": 0.9892628788948059,
738
+ "position": [
739
+ -0.01290446287021041,
740
+ -0.10309294261969626,
741
+ -0.026092245941981673
742
+ ],
743
+ "orientation": {
744
+ "w": 0.05010206163562258,
745
+ "xyz": [
746
+ 0.05840314094057997,
747
+ 0.7538613371977265,
748
+ 0.652512023511131
749
+ ]
750
+ }
751
+ },
752
+ "grasp_6": {
753
+ "confidence": 0.9887075424194336,
754
+ "position": [
755
+ 0.025149862747639418,
756
+ 0.09968188009224832,
757
+ -0.0030887809698469937
758
+ ],
759
+ "orientation": {
760
+ "w": 0.09362561611518153,
761
+ "xyz": [
762
+ -0.10500947927349076,
763
+ -0.7812079027200729,
764
+ 0.6082116950515409
765
+ ]
766
+ }
767
+ },
768
+ "grasp_7": {
769
+ "confidence": 0.9886316657066345,
770
+ "position": [
771
+ -0.030333433765918016,
772
+ 0.10160848102532327,
773
+ -0.02089055418036878
774
+ ],
775
+ "orientation": {
776
+ "w": 0.08768329059032369,
777
+ "xyz": [
778
+ -0.11525578112666086,
779
+ 0.7080924243804033,
780
+ -0.691109878386367
781
+ ]
782
+ }
783
+ },
784
+ "grasp_8": {
785
+ "confidence": 0.9883461594581604,
786
+ "position": [
787
+ -0.02919138642027974,
788
+ 0.10237542889080942,
789
+ -0.02857282548211515
790
+ ],
791
+ "orientation": {
792
+ "w": 0.08834150715774276,
793
+ "xyz": [
794
+ -0.09961839838799096,
795
+ 0.6968510723985514,
796
+ -0.7047485620508204
797
+ ]
798
+ }
799
+ },
800
+ "grasp_9": {
801
+ "confidence": 0.9875472784042358,
802
+ "position": [
803
+ 0.007491711992770433,
804
+ 0.100640315329656,
805
+ -0.0539986917283386
806
+ ],
807
+ "orientation": {
808
+ "w": 0.03522747637381074,
809
+ "xyz": [
810
+ -0.026674104086194313,
811
+ -0.6880150235202697,
812
+ 0.7243499461516746
813
+ ]
814
+ }
815
+ },
816
+ "grasp_10": {
817
+ "confidence": 0.9875090718269348,
818
+ "position": [
819
+ -0.03194094682112336,
820
+ 0.10200378648005426,
821
+ -0.037989107659086585
822
+ ],
823
+ "orientation": {
824
+ "w": 0.0841483895516986,
825
+ "xyz": [
826
+ -0.13321933862266241,
827
+ 0.6918616770710113,
828
+ -0.7046269056410515
829
+ ]
830
+ }
831
+ },
832
+ "grasp_11": {
833
+ "confidence": 0.9874840378761292,
834
+ "position": [
835
+ -0.017951056826859713,
836
+ -0.10405964055098593,
837
+ -0.044856993248686194
838
+ ],
839
+ "orientation": {
840
+ "w": 0.07490308324959248,
841
+ "xyz": [
842
+ 0.07561912562393183,
843
+ 0.6842136951900423,
844
+ 0.7214727266321054
845
+ ]
846
+ }
847
+ },
848
+ "grasp_12": {
849
+ "confidence": 0.9874010682106018,
850
+ "position": [
851
+ 0.01010763505473733,
852
+ -0.10274167009629309,
853
+ -0.026384604861959815
854
+ ],
855
+ "orientation": {
856
+ "w": 0.6814773851018511,
857
+ "xyz": [
858
+ -0.7296706472803092,
859
+ -0.044498868126242264,
860
+ 0.034484356275876
861
+ ]
862
+ }
863
+ },
864
+ "grasp_13": {
865
+ "confidence": 0.987387478351593,
866
+ "position": [
867
+ 0.03790824627503753,
868
+ 0.09093072614632547,
869
+ -0.053654117276892066
870
+ ],
871
+ "orientation": {
872
+ "w": 0.7597847284285484,
873
+ "xyz": [
874
+ 0.6162825608607752,
875
+ -0.1286559649279937,
876
+ -0.1623903147176222
877
+ ]
878
+ }
879
+ },
880
+ "grasp_14": {
881
+ "confidence": 0.9872558116912842,
882
+ "position": [
883
+ 0.007702467497438192,
884
+ 0.10177538148127496,
885
+ -0.05612855567596853
886
+ ],
887
+ "orientation": {
888
+ "w": 0.7348561828349787,
889
+ "xyz": [
890
+ 0.6769253981656349,
891
+ -0.03559841379849238,
892
+ -0.022161877233947826
893
+ ]
894
+ }
895
+ },
896
+ "grasp_15": {
897
+ "confidence": 0.9872552156448364,
898
+ "position": [
899
+ -0.010324337985366583,
900
+ 0.1070768793579191,
901
+ -0.04444361268542707
902
+ ],
903
+ "orientation": {
904
+ "w": 0.03340369575687722,
905
+ "xyz": [
906
+ -0.03726530406525032,
907
+ 0.7009508812399964,
908
+ -0.7114515811434955
909
+ ]
910
+ }
911
+ },
912
+ "grasp_16": {
913
+ "confidence": 0.9872363805770874,
914
+ "position": [
915
+ 0.003075083950534463,
916
+ 0.10661998740397394,
917
+ -0.04782864241860807
918
+ ],
919
+ "orientation": {
920
+ "w": 0.024554007543218955,
921
+ "xyz": [
922
+ -0.016830757135184428,
923
+ -0.7048225356160048,
924
+ 0.7087587880341588
925
+ ]
926
+ }
927
+ },
928
+ "grasp_17": {
929
+ "confidence": 0.9872153997421265,
930
+ "position": [
931
+ 0.010426119435578585,
932
+ 0.10200775018893182,
933
+ -0.03961453749798238
934
+ ],
935
+ "orientation": {
936
+ "w": 0.7112981837361547,
937
+ "xyz": [
938
+ 0.7015511312294052,
939
+ -0.03483922107082127,
940
+ -0.025828913247910597
941
+ ]
942
+ }
943
+ },
944
+ "grasp_18": {
945
+ "confidence": 0.9872072339057922,
946
+ "position": [
947
+ 0.005222800653427839,
948
+ -0.10238127806223929,
949
+ -0.05225465609692037
950
+ ],
951
+ "orientation": {
952
+ "w": 0.704177624167923,
953
+ "xyz": [
954
+ -0.7091804045269545,
955
+ -0.03156596217870722,
956
+ 0.01416395029421415
957
+ ]
958
+ }
959
+ },
960
+ "grasp_19": {
961
+ "confidence": 0.9871534705162048,
962
+ "position": [
963
+ -0.013937230687588453,
964
+ 0.1055752297397703,
965
+ -0.04726195870898664
966
+ ],
967
+ "orientation": {
968
+ "w": 0.047715142161595774,
969
+ "xyz": [
970
+ -0.05997654935137691,
971
+ 0.7101801089879091,
972
+ -0.6998359032904227
973
+ ]
974
+ }
975
+ }
976
+ }
977
+ },
978
+ {
979
+ "part_name": "front label",
980
+ "mask_color": "Orange",
981
+ "graspable": false,
982
+ "grasp_scenarios": [],
983
+ "functional_labels": [
984
+ "brand identification",
985
+ "product decoration",
986
+ "indicate front side"
987
+ ],
988
+ "semantic_description": "Small gold decorative front label with a glossy reflective finish and printed emblem, attached to the upper front of the white bottle body.",
989
+ "id": 4,
990
+ "grasp_group": {}
991
+ },
992
+ {
993
+ "part_name": "neck ring",
994
+ "mask_color": "Yellow",
995
+ "graspable": false,
996
+ "grasp_scenarios": [],
997
+ "functional_labels": [
998
+ "act as a decorative spacer ring",
999
+ "provide a visual transition between nozzle and collar",
1000
+ "finish the pump assembly appearance"
1001
+ ],
1002
+ "semantic_description": "Very thin light gray or silver smooth ring encircling the pump stem area, visible between the gold nozzle head and the gold collar as a narrow spacer band.",
1003
+ "id": 3,
1004
+ "grasp_group": {}
1005
+ }
1006
+ ],
1007
+ "quality_check": {
1008
+ "success": false,
1009
+ "message": "Neck ring color/part identity is wrong; description says silver though masked ring is gold. Pump nozzle function also misstates press surface."
1010
+ }
1011
+ }
dataset/bathroom_supplies/bath_products/445675b2692a5bfab9faaaff576ae8f4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b3fe717ac2363be371c748e464df86fb6807fa6ba094f8fb2f5debda60359c4
3
+ size 3781648