xinjjj commited on
Commit
d7e68bd
·
verified ·
1 Parent(s): cf404f2

Add asset bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07

Browse files
.gitattributes CHANGED
@@ -5666,3 +5666,4 @@ dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/afforda
5666
  dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5667
  dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5668
  dataset/bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5666
  dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5667
  dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5668
  dataset/bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5669
+ dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/affordance/affordance_annot.json ADDED
@@ -0,0 +1,757 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bottle body to pick up and transport the bottle",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body while manipulating the cap area",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the body to orient the bottle for pouring or dispensing",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain product",
23
+ "main grasp surface",
24
+ "provide structural enclosure",
25
+ "stabilize the bottle upright"
26
+ ],
27
+ "semantic_description": "Large white plastic bottle body with a smooth slightly glossy surface, tapered curved shape, medium size, and blue printed branding/text on the front.",
28
+ "id": 3,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9921045303344727,
32
+ "position": [
33
+ 0.004256141543010017,
34
+ 0.11112690123263747,
35
+ -0.03621145093347877
36
+ ],
37
+ "orientation": {
38
+ "w": 0.015178171433025963,
39
+ "xyz": [
40
+ -0.009374903334683781,
41
+ -0.7100427340893399,
42
+ 0.7039325607374254
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9918166995048523,
48
+ "position": [
49
+ 0.006052061155060073,
50
+ 0.10920794459525496,
51
+ -0.0368348074844107
52
+ ],
53
+ "orientation": {
54
+ "w": 0.023378581813150397,
55
+ "xyz": [
56
+ -0.018385960318305986,
57
+ -0.7092547330229223,
58
+ 0.7043245857274634
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9916700124740601,
64
+ "position": [
65
+ 0.004921386189380428,
66
+ 0.10916307719890028,
67
+ -0.04694620647933334
68
+ ],
69
+ "orientation": {
70
+ "w": 0.017059409324410402,
71
+ "xyz": [
72
+ -0.008827938727013939,
73
+ -0.7203989177253731,
74
+ 0.6932939083761266
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9902437329292297,
80
+ "position": [
81
+ 0.013413204982498428,
82
+ 0.11215359868947417,
83
+ -0.025728271692059934
84
+ ],
85
+ "orientation": {
86
+ "w": 0.039207258272933226,
87
+ "xyz": [
88
+ -0.0352754862187495,
89
+ -0.7048582441718798,
90
+ 0.7073848221397496
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9896392822265625,
96
+ "position": [
97
+ 0.005412146154412767,
98
+ 0.11095286312047392,
99
+ -0.059419286786578596
100
+ ],
101
+ "orientation": {
102
+ "w": 0.026330958555322415,
103
+ "xyz": [
104
+ -0.01523205637554665,
105
+ -0.7072769908662039,
106
+ 0.7062817591240609
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9895227551460266,
112
+ "position": [
113
+ 0.009631076998630306,
114
+ 0.10587323608342558,
115
+ -0.058800989179871976
116
+ ],
117
+ "orientation": {
118
+ "w": 0.03661155603787287,
119
+ "xyz": [
120
+ -0.022937214122513257,
121
+ -0.7032667324015714,
122
+ 0.7096121343875119
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9893472194671631,
128
+ "position": [
129
+ -0.0002088205401378218,
130
+ 0.11290802212897688,
131
+ -0.038140011369250715
132
+ ],
133
+ "orientation": {
134
+ "w": 0.008851844994501219,
135
+ "xyz": [
136
+ 0.006865055746358823,
137
+ 0.7307589890762435,
138
+ -0.6825436365054324
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9884141683578491,
144
+ "position": [
145
+ 0.00324379506855621,
146
+ 0.10990040155593306,
147
+ -0.04612187424208969
148
+ ],
149
+ "orientation": {
150
+ "w": 0.7103823056039887,
151
+ "xyz": [
152
+ 0.7038089585960916,
153
+ -0.0023653474520282103,
154
+ -0.0020820221124359514
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.988366425037384,
160
+ "position": [
161
+ 0.005480667281517526,
162
+ 0.11108689906541258,
163
+ -0.03652345889713615
164
+ ],
165
+ "orientation": {
166
+ "w": 0.7064188240354674,
167
+ "xyz": [
168
+ 0.7076742747481491,
169
+ -0.012957549058942752,
170
+ 0.0012914450873431193
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9880926012992859,
176
+ "position": [
177
+ 0.0011710591461451259,
178
+ 0.11214263888541609,
179
+ -0.0785683257272467
180
+ ],
181
+ "orientation": {
182
+ "w": 0.7233363313372629,
183
+ "xyz": [
184
+ 0.6900172340965876,
185
+ -0.024933169886322548,
186
+ 0.006253435588864609
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9880216121673584,
192
+ "position": [
193
+ 0.0055672588605375495,
194
+ 0.11137699487153441,
195
+ -0.04831365996506065
196
+ ],
197
+ "orientation": {
198
+ "w": 0.7084000385652169,
199
+ "xyz": [
200
+ 0.7057347766367753,
201
+ -0.008332583403819482,
202
+ -0.00619503511359266
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9875802993774414,
208
+ "position": [
209
+ 0.003620783503720304,
210
+ 0.10897043498698622,
211
+ -0.08183378109242767
212
+ ],
213
+ "orientation": {
214
+ "w": 0.02043100674824797,
215
+ "xyz": [
216
+ 0.006297850745276412,
217
+ -0.6736487086857532,
218
+ 0.7387423964585084
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.987407922744751,
224
+ "position": [
225
+ 0.008430953308561584,
226
+ 0.11305510404054075,
227
+ -0.0423231398453936
228
+ ],
229
+ "orientation": {
230
+ "w": 0.702226526996563,
231
+ "xyz": [
232
+ 0.7111183982081045,
233
+ -0.034408250381411376,
234
+ 0.002144951741894302
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9873353838920593,
240
+ "position": [
241
+ 0.007860859095671913,
242
+ 0.10835515114013106,
243
+ -0.05378966161515564
244
+ ],
245
+ "orientation": {
246
+ "w": 0.7121810660502553,
247
+ "xyz": [
248
+ 0.7015242406192598,
249
+ -0.02277273810767677,
250
+ -0.011969602423305494
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9871878623962402,
256
+ "position": [
257
+ 0.007123044862964889,
258
+ 0.11005655082408339,
259
+ -0.03294348099734634
260
+ ],
261
+ "orientation": {
262
+ "w": 0.7087231811866723,
263
+ "xyz": [
264
+ 0.7052294691156601,
265
+ -0.018486080741016986,
266
+ -0.004594905692566162
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.9869261980056763,
272
+ "position": [
273
+ 0.00019314518067403696,
274
+ 0.11227305384818465,
275
+ -0.06457713374402374
276
+ ],
277
+ "orientation": {
278
+ "w": 0.7053298204105325,
279
+ "xyz": [
280
+ 0.7088073758061351,
281
+ -0.009028000455857166,
282
+ 0.004521465496460582
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9868447780609131,
288
+ "position": [
289
+ -0.004038507879158715,
290
+ 0.10883546771947294,
291
+ -0.014145594439469278
292
+ ],
293
+ "orientation": {
294
+ "w": 0.018680519257124505,
295
+ "xyz": [
296
+ -0.042686565963542165,
297
+ 0.7392847590395726,
298
+ -0.671778937105299
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9865756630897522,
304
+ "position": [
305
+ 0.008724524810531875,
306
+ 0.11008011701051146,
307
+ -0.015876584104262292
308
+ ],
309
+ "orientation": {
310
+ "w": 0.030189054766066214,
311
+ "xyz": [
312
+ -0.022306901464295075,
313
+ -0.7055441732958566,
314
+ 0.7076711401828257
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9865259528160095,
320
+ "position": [
321
+ 0.005712996407964965,
322
+ 0.10908613505307585,
323
+ -0.060703714727424085
324
+ ],
325
+ "orientation": {
326
+ "w": 0.7132717467628421,
327
+ "xyz": [
328
+ 0.7007125833153047,
329
+ -0.012929703581474161,
330
+ -0.008838190921864383
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9864464998245239,
336
+ "position": [
337
+ 0.005919576327869436,
338
+ 0.10498985054437071,
339
+ -0.04916655772831291
340
+ ],
341
+ "orientation": {
342
+ "w": 0.026386018155562328,
343
+ "xyz": [
344
+ -0.013773922419173652,
345
+ -0.7105770213495318,
346
+ 0.7029895830217633
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "top cap",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the cap area to stabilize the bottle during handling",
359
+ "confidence": 0.55
360
+ },
361
+ {
362
+ "scenario": "grasp the cap lightly to reorient the bottle in a bin-picking setup",
363
+ "confidence": 0.45
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "cover the bottle opening",
368
+ "seal the contents",
369
+ "provide top contact surface"
370
+ ],
371
+ "semantic_description": "Blue plastic top cap with a smooth glossy finish, rounded oblong shape on the bottle top, hard texture, and a recessed dispensing area.",
372
+ "id": 1,
373
+ "grasp_group": {
374
+ "grasp_0": {
375
+ "confidence": 0.9832725524902344,
376
+ "position": [
377
+ 0.00999292003325536,
378
+ 0.11276187899056822,
379
+ 0.06540048739407212
380
+ ],
381
+ "orientation": {
382
+ "w": 0.7139671265968138,
383
+ "xyz": [
384
+ 0.6995901501815698,
385
+ -0.013375188200293042,
386
+ -0.025410002924531456
387
+ ]
388
+ }
389
+ },
390
+ "grasp_1": {
391
+ "confidence": 0.9827593564987183,
392
+ "position": [
393
+ 0.00022906099547981285,
394
+ 0.0009911678498610854,
395
+ 0.16962782910559326
396
+ ],
397
+ "orientation": {
398
+ "w": 0.02051813150878135,
399
+ "xyz": [
400
+ 0.9995401058000938,
401
+ -0.02217514847273251,
402
+ -0.002616479837076545
403
+ ]
404
+ }
405
+ },
406
+ "grasp_2": {
407
+ "confidence": 0.981877326965332,
408
+ "position": [
409
+ -0.003727442879608134,
410
+ 0.10876757057849318,
411
+ 0.07457319519016892
412
+ ],
413
+ "orientation": {
414
+ "w": 0.0444734742955138,
415
+ "xyz": [
416
+ -0.010763648713978285,
417
+ 0.7219946280087912,
418
+ -0.690383959168299
419
+ ]
420
+ }
421
+ },
422
+ "grasp_3": {
423
+ "confidence": 0.9815105199813843,
424
+ "position": [
425
+ 0.002611997475469252,
426
+ 0.0013741551665589213,
427
+ 0.16730172804091126
428
+ ],
429
+ "orientation": {
430
+ "w": 0.006537108535110958,
431
+ "xyz": [
432
+ 0.9996621257417985,
433
+ 0.024591575938819343,
434
+ -0.005306124973488081
435
+ ]
436
+ }
437
+ },
438
+ "grasp_4": {
439
+ "confidence": 0.9814022183418274,
440
+ "position": [
441
+ 0.004452262244740268,
442
+ 0.0070627384120598435,
443
+ 0.16935910156462342
444
+ ],
445
+ "orientation": {
446
+ "w": 0.005092554872219086,
447
+ "xyz": [
448
+ 0.999251503490423,
449
+ 0.03718534481854985,
450
+ -0.00936743229108879
451
+ ]
452
+ }
453
+ },
454
+ "grasp_5": {
455
+ "confidence": 0.9812780022621155,
456
+ "position": [
457
+ 0.0056393748927803244,
458
+ 0.005290056229569018,
459
+ 0.1674648659536615
460
+ ],
461
+ "orientation": {
462
+ "w": 0.010453349596959198,
463
+ "xyz": [
464
+ 0.9997251796622786,
465
+ -0.015072431507814493,
466
+ -0.014598439638222806
467
+ ]
468
+ }
469
+ },
470
+ "grasp_6": {
471
+ "confidence": 0.9812350869178772,
472
+ "position": [
473
+ 0.0039052871834428515,
474
+ -0.004598319181241095,
475
+ 0.1683215337106958
476
+ ],
477
+ "orientation": {
478
+ "w": 0.005667611896332119,
479
+ "xyz": [
480
+ 0.9999059163844203,
481
+ -0.005556139666126732,
482
+ -0.01118775521879396
483
+ ]
484
+ }
485
+ },
486
+ "grasp_7": {
487
+ "confidence": 0.9811908602714539,
488
+ "position": [
489
+ 0.0017565426496730652,
490
+ -0.0019020416075363755,
491
+ 0.1701637195656076
492
+ ],
493
+ "orientation": {
494
+ "w": 0.007884138803631265,
495
+ "xyz": [
496
+ -0.9999032003708543,
497
+ -0.009465949375329909,
498
+ 0.006467305920717166
499
+ ]
500
+ }
501
+ },
502
+ "grasp_8": {
503
+ "confidence": 0.9810075163841248,
504
+ "position": [
505
+ -0.007781499825796345,
506
+ 0.10487229528371245,
507
+ 0.06469998380634934
508
+ ],
509
+ "orientation": {
510
+ "w": 0.05523439955281745,
511
+ "xyz": [
512
+ -0.019839837783482795,
513
+ 0.7013320549532609,
514
+ -0.7104145906706879
515
+ ]
516
+ }
517
+ },
518
+ "grasp_9": {
519
+ "confidence": 0.9808102250099182,
520
+ "position": [
521
+ 0.0027599597196967807,
522
+ 0.00850433821324259,
523
+ 0.1730932133505121
524
+ ],
525
+ "orientation": {
526
+ "w": 0.005892794882806797,
527
+ "xyz": [
528
+ 0.9999549260585991,
529
+ -0.0023878943725706304,
530
+ -0.0070511545207940975
531
+ ]
532
+ }
533
+ },
534
+ "grasp_10": {
535
+ "confidence": 0.9805665016174316,
536
+ "position": [
537
+ -0.0008298887441924307,
538
+ 0.013203731388784945,
539
+ 0.16808822622988373
540
+ ],
541
+ "orientation": {
542
+ "w": 0.047136075248027764,
543
+ "xyz": [
544
+ 0.9970395903794312,
545
+ 0.060613590703961315,
546
+ -0.004029670979267683
547
+ ]
548
+ }
549
+ },
550
+ "grasp_11": {
551
+ "confidence": 0.9805097579956055,
552
+ "position": [
553
+ 0.004853045738855144,
554
+ 0.01588845776859671,
555
+ 0.166680826456286
556
+ ],
557
+ "orientation": {
558
+ "w": 0.08631544602297113,
559
+ "xyz": [
560
+ 0.9961667989103757,
561
+ 0.0029745818445329752,
562
+ -0.013874595106183028
563
+ ]
564
+ }
565
+ },
566
+ "grasp_12": {
567
+ "confidence": 0.9802340865135193,
568
+ "position": [
569
+ 0.005616948179522296,
570
+ 0.003688475233502686,
571
+ 0.17003525665495545
572
+ ],
573
+ "orientation": {
574
+ "w": 0.00276858863624739,
575
+ "xyz": [
576
+ 0.9995277215298267,
577
+ 0.02894252326598342,
578
+ -0.00994983202643249
579
+ ]
580
+ }
581
+ },
582
+ "grasp_13": {
583
+ "confidence": 0.9800232648849487,
584
+ "position": [
585
+ 0.003998858093837043,
586
+ -0.005971343140117824,
587
+ 0.1670751409837976
588
+ ],
589
+ "orientation": {
590
+ "w": 0.029858637315869668,
591
+ "xyz": [
592
+ -0.998899925617986,
593
+ 0.0353735571524461,
594
+ 0.007490783163599683
595
+ ]
596
+ }
597
+ },
598
+ "grasp_14": {
599
+ "confidence": 0.9799244403839111,
600
+ "position": [
601
+ 0.004835114985326072,
602
+ 0.014574363478459418,
603
+ 0.1702507125446573
604
+ ],
605
+ "orientation": {
606
+ "w": 0.05043412032456331,
607
+ "xyz": [
608
+ 0.9986793713159872,
609
+ 0.004479931207754091,
610
+ -0.00870879046514613
611
+ ]
612
+ }
613
+ },
614
+ "grasp_15": {
615
+ "confidence": 0.9799133539199829,
616
+ "position": [
617
+ 0.006688052493700525,
618
+ 0.000477070570923388,
619
+ 0.172049074084498
620
+ ],
621
+ "orientation": {
622
+ "w": 0.0038034386020303797,
623
+ "xyz": [
624
+ -0.9995982849108729,
625
+ -0.023600523281683092,
626
+ 0.01522556924626049
627
+ ]
628
+ }
629
+ },
630
+ "grasp_16": {
631
+ "confidence": 0.9798091650009155,
632
+ "position": [
633
+ 0.003591639626392862,
634
+ -0.01202691940125078,
635
+ 0.16673622897360474
636
+ ],
637
+ "orientation": {
638
+ "w": 0.007507448656353096,
639
+ "xyz": [
640
+ -0.9999417048452738,
641
+ -0.007238995996450309,
642
+ 0.002796795087762386
643
+ ]
644
+ }
645
+ },
646
+ "grasp_17": {
647
+ "confidence": 0.9797614812850952,
648
+ "position": [
649
+ 0.001332389594608685,
650
+ -0.004823180963285267,
651
+ 0.17005102208349854
652
+ ],
653
+ "orientation": {
654
+ "w": 0.0017927119533809263,
655
+ "xyz": [
656
+ -0.047088091418810124,
657
+ -0.998858455111219,
658
+ -0.007828440663034675
659
+ ]
660
+ }
661
+ },
662
+ "grasp_18": {
663
+ "confidence": 0.9797421097755432,
664
+ "position": [
665
+ 0.0007184050591604318,
666
+ -0.01885035668965429,
667
+ 0.16713552048895508
668
+ ],
669
+ "orientation": {
670
+ "w": 0.001011534467030138,
671
+ "xyz": [
672
+ -0.04404931448524867,
673
+ -0.9984540060851765,
674
+ -0.03388557840534297
675
+ ]
676
+ }
677
+ },
678
+ "grasp_19": {
679
+ "confidence": 0.9797089695930481,
680
+ "position": [
681
+ 0.001792031976947328,
682
+ -0.012398800230585039,
683
+ 0.16812410822603852
684
+ ],
685
+ "orientation": {
686
+ "w": 0.0007266242565064577,
687
+ "xyz": [
688
+ -0.024364714593036386,
689
+ -0.9995374028594166,
690
+ -0.018188265036609107
691
+ ]
692
+ }
693
+ }
694
+ }
695
+ },
696
+ {
697
+ "part_name": "cap side hinge area",
698
+ "mask_color": "Red",
699
+ "graspable": false,
700
+ "grasp_scenarios": [],
701
+ "functional_labels": [
702
+ "connect cap sections",
703
+ "support cap motion or attachment",
704
+ "maintain closure alignment"
705
+ ],
706
+ "semantic_description": "Small blue plastic side section on the cap with a smooth glossy surface, hard texture, and narrow curved shape positioned along the cap edge.",
707
+ "id": 0,
708
+ "grasp_group": {}
709
+ },
710
+ {
711
+ "part_name": "dispensing opening",
712
+ "mask_color": "Purple",
713
+ "graspable": false,
714
+ "grasp_scenarios": [],
715
+ "functional_labels": [
716
+ "dispense contents",
717
+ "direct liquid flow",
718
+ "provide outlet for contents"
719
+ ],
720
+ "semantic_description": "Small oval slit-like opening recessed in the top of the blue cap, appearing dark due to shadow, with a smooth hard plastic rim.",
721
+ "id": 5,
722
+ "grasp_group": {}
723
+ },
724
+ {
725
+ "part_name": "base of bottle",
726
+ "mask_color": "Blue",
727
+ "graspable": false,
728
+ "grasp_scenarios": [],
729
+ "functional_labels": [
730
+ "support standing",
731
+ "stabilize the bottle",
732
+ "provide resting surface"
733
+ ],
734
+ "semantic_description": "Flat blue-toned oval bottom surface visible on the underside of the bottle, with a smooth slightly glossy finish forming the bottle's resting base.",
735
+ "id": 2,
736
+ "grasp_group": {}
737
+ },
738
+ {
739
+ "part_name": "small side label graphic",
740
+ "mask_color": "Orange",
741
+ "graspable": false,
742
+ "grasp_scenarios": [],
743
+ "functional_labels": [
744
+ "display product information",
745
+ "provide visual marking",
746
+ "identify product variant"
747
+ ],
748
+ "semantic_description": "Small orange printed graphic on the bottle body, flat and smooth with no protruding thickness, visible on the side/front area depending on view.",
749
+ "id": 4,
750
+ "grasp_group": {}
751
+ }
752
+ ],
753
+ "quality_check": {
754
+ "success": false,
755
+ "message": "Several visual descriptions use wrong colors; orange mark is printed text, not orange graphic; body branding description is inaccurate."
756
+ }
757
+ }
dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70b46e95ccdfd7df63bcea0a972511408f799f96ebb6090f467ae7b0a3895520
3
+ size 3784348
dataset/bathroom_supplies/bath_products/b11068fda38753529b23c715fddedc07/shampoo_bottle_011.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>