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
d9efc71
·
verified ·
1 Parent(s): 0a97aaf

Add asset bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/affordance_annot.json +762 -0
  3. dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -8024,4 +8024,4 @@ dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/afforda
8024
  dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8025
  dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8026
  dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8027
- dataset/bathroom_supplies/personal_care/98618574d6c957689f882819250f2017/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8024
  dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8025
  dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8026
  dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8027
+ dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,762 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tube body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the tube body to pick up and move the toothpaste tube",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "squeeze and hold the tube body to dispense toothpaste",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the tube body to stabilize it while opening or closing the cap",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain toothpaste",
23
+ "main grasp surface",
24
+ "allow squeezing for dispensing",
25
+ "support printed branding and instructions",
26
+ "connect body to cap area"
27
+ ],
28
+ "semantic_description": "Large tapered white plastic tube body with a smooth slightly glossy, squeezable surface. The front shows black printed text and a red Colgate logo panel, while other views are mostly plain white.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9924769997596741,
33
+ "position": [
34
+ -0.1017871387739433,
35
+ -0.014520484197419137,
36
+ -0.02005566516891122
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5345651001781226,
40
+ "xyz": [
41
+ -0.5197140058120987,
42
+ 0.4724568242823002,
43
+ -0.47002346220521674
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9915716648101807,
49
+ "position": [
50
+ -0.09870210666849744,
51
+ 0.021964228537399322,
52
+ -0.020955920685082674
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5722748443351148,
56
+ "xyz": [
57
+ 0.5427820490383933,
58
+ 0.4444396171783075,
59
+ 0.4246911542112736
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9915189146995544,
65
+ "position": [
66
+ -0.09968568761541974,
67
+ 0.02065084018977359,
68
+ -0.014754755888134241
69
+ ],
70
+ "orientation": {
71
+ "w": 0.558184418531797,
72
+ "xyz": [
73
+ 0.5463184511019819,
74
+ 0.45208954767915066,
75
+ 0.4307915340081697
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9913578033447266,
81
+ "position": [
82
+ -0.0997320451278938,
83
+ 0.015964519989211112,
84
+ -0.025909966323524714
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5649096475495797,
88
+ "xyz": [
89
+ 0.5267475185465365,
90
+ 0.45031225689958454,
91
+ 0.4479207665385457
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9910227060317993,
97
+ "position": [
98
+ -0.10113157708838116,
99
+ 0.0013810841483063996,
100
+ -0.017866572830826044
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5201233847378158,
104
+ "xyz": [
105
+ 0.5099602301465518,
106
+ 0.48767289841486505,
107
+ 0.48123525688523544
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9909929633140564,
113
+ "position": [
114
+ -0.10303524513437878,
115
+ 0.002154870016966015,
116
+ -0.023430362809449434
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5309579753234307,
120
+ "xyz": [
121
+ 0.5041498823586892,
122
+ 0.4845866927858612,
123
+ 0.4786358341505825
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9909923076629639,
129
+ "position": [
130
+ 0.094581622586702,
131
+ 0.03086143621476367,
132
+ -0.016917352098971605
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5568742922389176,
136
+ "xyz": [
137
+ 0.5856289959813854,
138
+ -0.4379310291640358,
139
+ -0.3938859167380413
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9908966422080994,
145
+ "position": [
146
+ -0.10048628230288159,
147
+ 0.0052880694274790585,
148
+ -0.029035998973995447
149
+ ],
150
+ "orientation": {
151
+ "w": 0.49416018976776,
152
+ "xyz": [
153
+ -0.4715832463082273,
154
+ 0.5166416853656066,
155
+ -0.5162328133629921
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9908255934715271,
161
+ "position": [
162
+ -0.10135726262524258,
163
+ -0.002623520151246339,
164
+ -0.014947619754821062
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5133558777847271,
168
+ "xyz": [
169
+ 0.49835613516170335,
170
+ 0.5001221693186402,
171
+ 0.48783677705414924
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.990715742111206,
177
+ "position": [
178
+ -0.0991994478245033,
179
+ 0.018756166857201606,
180
+ -0.022899399045854807
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5619695635863817,
184
+ "xyz": [
185
+ 0.530344437450445,
186
+ 0.4497149717914456,
187
+ 0.4479748111384415
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9902129769325256,
193
+ "position": [
194
+ 0.09948835890099872,
195
+ 0.012602926057297736,
196
+ -0.029009694699198008
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5322265721510583,
200
+ "xyz": [
201
+ 0.5268028357163088,
202
+ -0.45954933188738045,
203
+ -0.47752283687741387
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9898207187652588,
209
+ "position": [
210
+ -0.05141880740120541,
211
+ 0.0845999036100693,
212
+ -0.02345645846799016
213
+ ],
214
+ "orientation": {
215
+ "w": 0.1803118031803344,
216
+ "xyz": [
217
+ -0.21672569775689562,
218
+ 0.6721586037180962,
219
+ -0.6846316067881922
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9898120760917664,
225
+ "position": [
226
+ -0.09750928361609112,
227
+ 0.023573544633109123,
228
+ -0.01632083998993039
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5710678714362153,
232
+ "xyz": [
233
+ 0.543288883955348,
234
+ 0.43865599522329646,
235
+ 0.43162436520488706
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.989784300327301,
241
+ "position": [
242
+ -0.0996853076358093,
243
+ -0.011168257507961243,
244
+ -0.024486143607646227
245
+ ],
246
+ "orientation": {
247
+ "w": 0.49041488472302963,
248
+ "xyz": [
249
+ 0.47277958223022376,
250
+ 0.5147656783699753,
251
+ 0.5205660417666637
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9896997809410095,
257
+ "position": [
258
+ 0.1014439574937569,
259
+ 0.01397034787805751,
260
+ -0.02142435172572732
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4573941950594698,
264
+ "xyz": [
265
+ -0.4682748679174737,
266
+ -0.543558591507764,
267
+ 0.5254077045503501
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9896194338798523,
273
+ "position": [
274
+ -0.10079799969389569,
275
+ 6.523897172883153e-05,
276
+ -0.027261330280452967
277
+ ],
278
+ "orientation": {
279
+ "w": 0.5172978213791821,
280
+ "xyz": [
281
+ 0.497204278709673,
282
+ 0.4900699519035864,
283
+ 0.49499728430604756
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9895766973495483,
289
+ "position": [
290
+ -0.10058523346378934,
291
+ -0.010619079868774861,
292
+ -0.03185123624280095
293
+ ],
294
+ "orientation": {
295
+ "w": 0.4877268372231743,
296
+ "xyz": [
297
+ 0.46916142965668106,
298
+ 0.5094828586051918,
299
+ 0.5314483060112817
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9895399212837219,
305
+ "position": [
306
+ -0.09597096224024426,
307
+ 0.022481272753793746,
308
+ -0.02718231501057744
309
+ ],
310
+ "orientation": {
311
+ "w": 0.4472842170344704,
312
+ "xyz": [
313
+ -0.422283216571102,
314
+ 0.5348387928096219,
315
+ -0.5792764278823809
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9894752502441406,
321
+ "position": [
322
+ 0.09864414851472247,
323
+ -0.014582727279048413,
324
+ -0.03464303584769368
325
+ ],
326
+ "orientation": {
327
+ "w": 0.5443812270154597,
328
+ "xyz": [
329
+ -0.5009636932035744,
330
+ -0.44180096654626333,
331
+ 0.5074409953125241
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9894527196884155,
337
+ "position": [
338
+ -0.10098480810120236,
339
+ -0.003157338302116841,
340
+ -0.008885099086910486
341
+ ],
342
+ "orientation": {
343
+ "w": 0.501899750591867,
344
+ "xyz": [
345
+ 0.5036377474734332,
346
+ 0.5049419307142518,
347
+ 0.48936622920086326
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "cap collar",
355
+ "mask_color": "Blue",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the neck area to stabilize the tube while opening or closing the flip-top cap",
360
+ "confidence": 0.62
361
+ },
362
+ {
363
+ "scenario": "briefly pinch the collar to steady the tube during manipulation",
364
+ "confidence": 0.38
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "connect tube body to cap",
369
+ "support cap attachment",
370
+ "surround dispensing neck",
371
+ "support sealing interface"
372
+ ],
373
+ "semantic_description": "Small white plastic collar/neck ring at the dispensing end, with a smooth slightly glossy hard surface and a short cylindrical band shape between the tube body and the cap.",
374
+ "id": 2,
375
+ "grasp_group": {
376
+ "grasp_40": {
377
+ "confidence": 0.9854142665863037,
378
+ "position": [
379
+ 0.0997761524777161,
380
+ -0.007506324618589133,
381
+ -0.04511951329186559
382
+ ],
383
+ "orientation": {
384
+ "w": 0.5118850264570937,
385
+ "xyz": [
386
+ -0.5169558177368716,
387
+ -0.4728281440330734,
388
+ 0.49715585927077427
389
+ ]
390
+ }
391
+ },
392
+ "grasp_41": {
393
+ "confidence": 0.9836810827255249,
394
+ "position": [
395
+ 0.10166164110705722,
396
+ -0.0004359743616078049,
397
+ -0.04611941846087575
398
+ ],
399
+ "orientation": {
400
+ "w": 0.49555533268226903,
401
+ "xyz": [
402
+ -0.4937985834365546,
403
+ -0.49919878886341884,
404
+ 0.5112616164387008
405
+ ]
406
+ }
407
+ },
408
+ "grasp_42": {
409
+ "confidence": 0.9835228323936462,
410
+ "position": [
411
+ -0.10072352369024884,
412
+ -0.003795982280280441,
413
+ -0.0525400941260159
414
+ ],
415
+ "orientation": {
416
+ "w": 0.5128097548351814,
417
+ "xyz": [
418
+ -0.4956056405826887,
419
+ 0.47627068207570933,
420
+ -0.5143611977624698
421
+ ]
422
+ }
423
+ },
424
+ "grasp_43": {
425
+ "confidence": 0.9833652377128601,
426
+ "position": [
427
+ 0.09570946167514194,
428
+ 0.027246237557847053,
429
+ -0.04742898838594556
430
+ ],
431
+ "orientation": {
432
+ "w": 0.573684578058613,
433
+ "xyz": [
434
+ 0.5473113101757928,
435
+ -0.43154679219939873,
436
+ -0.43023679618760746
437
+ ]
438
+ }
439
+ },
440
+ "grasp_44": {
441
+ "confidence": 0.9832468628883362,
442
+ "position": [
443
+ 0.10180292646691669,
444
+ -0.0022189776063896716,
445
+ -0.045833409298211336
446
+ ],
447
+ "orientation": {
448
+ "w": 0.4938595273365449,
449
+ "xyz": [
450
+ 0.4886768217972696,
451
+ -0.4945412144377477,
452
+ -0.5222324370617761
453
+ ]
454
+ }
455
+ },
456
+ "grasp_45": {
457
+ "confidence": 0.9826158285140991,
458
+ "position": [
459
+ 0.10016952078149188,
460
+ -0.008495038549881428,
461
+ -0.04936241777613759
462
+ ],
463
+ "orientation": {
464
+ "w": 0.5001281142744529,
465
+ "xyz": [
466
+ -0.5238591282451579,
467
+ -0.4662840284637313,
468
+ 0.5079593368234682
469
+ ]
470
+ }
471
+ },
472
+ "grasp_46": {
473
+ "confidence": 0.9822831749916077,
474
+ "position": [
475
+ 0.09770254413888324,
476
+ 0.02884301805170253,
477
+ -0.05071420269086957
478
+ ],
479
+ "orientation": {
480
+ "w": 0.592622000618889,
481
+ "xyz": [
482
+ 0.5387815741039526,
483
+ -0.4134774347645258,
484
+ -0.43307042236693993
485
+ ]
486
+ }
487
+ },
488
+ "grasp_47": {
489
+ "confidence": 0.9814713597297668,
490
+ "position": [
491
+ 0.09868170689151157,
492
+ -0.00017305673100054264,
493
+ -0.04606983857229352
494
+ ],
495
+ "orientation": {
496
+ "w": 0.5010699716027419,
497
+ "xyz": [
498
+ -0.5007994936905933,
499
+ -0.49415400097251305,
500
+ 0.5039251670636529
501
+ ]
502
+ }
503
+ },
504
+ "grasp_48": {
505
+ "confidence": 0.9813018441200256,
506
+ "position": [
507
+ -0.10071234036877286,
508
+ 0.008332281198818237,
509
+ -0.05613908590748906
510
+ ],
511
+ "orientation": {
512
+ "w": 0.49625517793332025,
513
+ "xyz": [
514
+ -0.45931467445879676,
515
+ 0.5091281493565682,
516
+ -0.5324935264713876
517
+ ]
518
+ }
519
+ },
520
+ "grasp_49": {
521
+ "confidence": 0.9810625910758972,
522
+ "position": [
523
+ -0.08781651039316785,
524
+ 0.046188204374630004,
525
+ -0.04285782249644399
526
+ ],
527
+ "orientation": {
528
+ "w": 0.35838597919760823,
529
+ "xyz": [
530
+ -0.36573520318967734,
531
+ 0.6044545436777322,
532
+ -0.6102720341697796
533
+ ]
534
+ }
535
+ },
536
+ "grasp_50": {
537
+ "confidence": 0.9808518290519714,
538
+ "position": [
539
+ -0.10159295429184567,
540
+ 0.009151955891866237,
541
+ -0.05617393972352147
542
+ ],
543
+ "orientation": {
544
+ "w": 0.5437883785141295,
545
+ "xyz": [
546
+ 0.5076193090192737,
547
+ 0.4615594658628146,
548
+ 0.48330083382527095
549
+ ]
550
+ }
551
+ },
552
+ "grasp_51": {
553
+ "confidence": 0.9808057546615601,
554
+ "position": [
555
+ -0.09937847037508618,
556
+ -0.0069517173687927425,
557
+ -0.04761840449646115
558
+ ],
559
+ "orientation": {
560
+ "w": 0.5198990196177985,
561
+ "xyz": [
562
+ -0.5038198689729367,
563
+ 0.4680948433308557,
564
+ -0.5067127062504023
565
+ ]
566
+ }
567
+ },
568
+ "grasp_52": {
569
+ "confidence": 0.9798411130905151,
570
+ "position": [
571
+ 0.10070104520127643,
572
+ 0.01225005165906623,
573
+ -0.050794724840670824
574
+ ],
575
+ "orientation": {
576
+ "w": 0.4667746756249232,
577
+ "xyz": [
578
+ -0.45877674419157166,
579
+ -0.5243754063063145,
580
+ 0.5446794786342852
581
+ ]
582
+ }
583
+ },
584
+ "grasp_54": {
585
+ "confidence": 0.9793028235435486,
586
+ "position": [
587
+ 0.10062285135791171,
588
+ -0.0036948350607417524,
589
+ -0.05446333112195134
590
+ ],
591
+ "orientation": {
592
+ "w": 0.512728388154056,
593
+ "xyz": [
594
+ -0.4913426347900858,
595
+ -0.5003236533945302,
596
+ 0.4953466029684973
597
+ ]
598
+ }
599
+ },
600
+ "grasp_55": {
601
+ "confidence": 0.9784806966781616,
602
+ "position": [
603
+ -0.10017127920582425,
604
+ 0.011644614685792476,
605
+ -0.0547337387688458
606
+ ],
607
+ "orientation": {
608
+ "w": 0.5499319290428025,
609
+ "xyz": [
610
+ 0.5123896614317985,
611
+ 0.45026630689448355,
612
+ 0.48196676353527884
613
+ ]
614
+ }
615
+ },
616
+ "grasp_57": {
617
+ "confidence": 0.9775196313858032,
618
+ "position": [
619
+ 0.10387036572501529,
620
+ -0.0023091445327736437,
621
+ -0.04978622915223241
622
+ ],
623
+ "orientation": {
624
+ "w": 0.4957140741725356,
625
+ "xyz": [
626
+ -0.5095497963196978,
627
+ -0.48362491963258336,
628
+ 0.5106206995884492
629
+ ]
630
+ }
631
+ },
632
+ "grasp_58": {
633
+ "confidence": 0.9766035079956055,
634
+ "position": [
635
+ 0.10256940494582523,
636
+ -0.002931377792265266,
637
+ -0.053524613846093416
638
+ ],
639
+ "orientation": {
640
+ "w": 0.5068362756950338,
641
+ "xyz": [
642
+ -0.49950664080547763,
643
+ -0.4914655724438254,
644
+ 0.5020674222983182
645
+ ]
646
+ }
647
+ },
648
+ "grasp_59": {
649
+ "confidence": 0.9761860966682434,
650
+ "position": [
651
+ 0.09976626555726398,
652
+ 0.018188056361395866,
653
+ -0.05758181633427739
654
+ ],
655
+ "orientation": {
656
+ "w": 0.5927898961255932,
657
+ "xyz": [
658
+ 0.503543610159102,
659
+ -0.4414734261620743,
660
+ -0.4473758886127704
661
+ ]
662
+ }
663
+ }
664
+ }
665
+ },
666
+ {
667
+ "part_name": "flip-top cap",
668
+ "mask_color": "Green",
669
+ "graspable": true,
670
+ "grasp_scenarios": [
671
+ {
672
+ "scenario": "grasp the cap to lift and reposition the tube",
673
+ "confidence": 0.68
674
+ },
675
+ {
676
+ "scenario": "hold the cap area to set or stabilize the tube upright on a surface",
677
+ "confidence": 0.56
678
+ },
679
+ {
680
+ "scenario": "manipulate the cap while opening or closing it during dispensing",
681
+ "confidence": 0.74
682
+ }
683
+ ],
684
+ "functional_labels": [
685
+ "cover the dispensing opening",
686
+ "seal contents",
687
+ "serve as a standing base",
688
+ "enable opening and closing"
689
+ ],
690
+ "semantic_description": "Rounded white plastic flip-top cap with a smooth glossy hard surface, wider than the neck, located at the bottom dispensing end and forming the tube's flat standing base.",
691
+ "id": 1,
692
+ "grasp_group": {
693
+ "grasp_21": {
694
+ "confidence": 0.9341851472854614,
695
+ "position": [
696
+ 0.0013479240733431652,
697
+ -0.08389940223423764,
698
+ -0.12056367145851254
699
+ ],
700
+ "orientation": {
701
+ "w": 0.04229673744093534,
702
+ "xyz": [
703
+ 0.0006606326393101408,
704
+ 0.44497168580013413,
705
+ 0.8945449951805418
706
+ ]
707
+ }
708
+ },
709
+ "grasp_29": {
710
+ "confidence": 0.9079216718673706,
711
+ "position": [
712
+ -0.0005880747194169089,
713
+ -0.022287038329523057,
714
+ -0.15569781558588147
715
+ ],
716
+ "orientation": {
717
+ "w": 0.07384944674429009,
718
+ "xyz": [
719
+ -0.00028616118412759685,
720
+ 0.08986696299520047,
721
+ 0.993212014772958
722
+ ]
723
+ }
724
+ },
725
+ "grasp_30": {
726
+ "confidence": 0.9045895338058472,
727
+ "position": [
728
+ 0.011414254971896298,
729
+ 0.001705751579720527,
730
+ -0.15744290547445416
731
+ ],
732
+ "orientation": {
733
+ "w": 0.9990750638657416,
734
+ "xyz": [
735
+ 0.017216493123661736,
736
+ -0.03231329490707857,
737
+ -0.022549059812656314
738
+ ]
739
+ }
740
+ }
741
+ }
742
+ },
743
+ {
744
+ "part_name": "crimped end seal",
745
+ "mask_color": "Yellow",
746
+ "graspable": false,
747
+ "grasp_scenarios": [],
748
+ "functional_labels": [
749
+ "seal the filled tube end",
750
+ "retain contents",
751
+ "indicate the permanently closed end"
752
+ ],
753
+ "semantic_description": "Thin crimped white plastic seam along the narrow top end, with a slightly ridged compressed edge shape that permanently seals the tube.",
754
+ "id": 3,
755
+ "grasp_group": {}
756
+ }
757
+ ],
758
+ "quality_check": {
759
+ "success": true,
760
+ "message": "YES"
761
+ }
762
+ }
dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae14a1e9e92083d076c8bc0331bd51ce824776a7320e077218a00ca4cf207019
3
+ size 3784812