Add asset bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889
Browse files
.gitattributes
CHANGED
|
@@ -5655,3 +5655,4 @@ dataset/bathroom_supplies/bath_products/9a73f466719e5ca99cfbf51a75f19df8/afforda
|
|
| 5655 |
dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5656 |
dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5657 |
dataset/bathroom_supplies/bath_products/9d4489e26d475f208cf4ca3e49a44cdf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5655 |
dataset/bathroom_supplies/bath_products/9868e29e57705ab29984bb7f238680b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5656 |
dataset/bathroom_supplies/bath_products/9b79e9fe84a15e59b681acf2184c4fe0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5657 |
dataset/bathroom_supplies/bath_products/9d4489e26d475f208cf4ca3e49a44cdf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5658 |
+
dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,775 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 at the midsection to pick up the shampoo bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while opening or closing the cap",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to reorient the bottle for dispensing",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain shampoo",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support squeezing and handling",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"stabilize the bottle upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded pale mint-white plastic bottle body with a smooth semi-gloss finish, hard slightly slick texture, tapered cylindrical shape, and a printed cream label on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.1770661324262619,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0809234450571239,
|
| 35 |
+
-0.0688292037229985,
|
| 36 |
+
0.09347719792276621
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.3078529545327969,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.2785532098770744,
|
| 42 |
+
-0.6370442156130667,
|
| 43 |
+
-0.6494685019356513
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_4": {
|
| 48 |
+
"confidence": 0.12689989805221558,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.110563934314996,
|
| 51 |
+
-0.022975033847615123,
|
| 52 |
+
0.08979498688131571
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5538768457331573,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5294550448122762,
|
| 58 |
+
0.45274057728716366,
|
| 59 |
+
-0.4559865841899347
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"part_name": "front label",
|
| 67 |
+
"mask_color": "Green",
|
| 68 |
+
"graspable": false,
|
| 69 |
+
"grasp_scenarios": [],
|
| 70 |
+
"functional_labels": [
|
| 71 |
+
"display brand information",
|
| 72 |
+
"identify product",
|
| 73 |
+
"provide usage information",
|
| 74 |
+
"indicate front orientation"
|
| 75 |
+
],
|
| 76 |
+
"semantic_description": "Medium cream-colored printed label adhered to the front lower body, with a smooth matte paper-like surface, rounded rectangular shape, and visible black text and logo markings.",
|
| 77 |
+
"id": 1,
|
| 78 |
+
"grasp_group": {}
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"part_name": "neck",
|
| 82 |
+
"mask_color": "Blue",
|
| 83 |
+
"graspable": true,
|
| 84 |
+
"grasp_scenarios": [
|
| 85 |
+
{
|
| 86 |
+
"scenario": "grasp the neck to stabilize the bottle while twisting the cap",
|
| 87 |
+
"confidence": 0.63
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"scenario": "pinch the neck to lift or reposition the bottle in a constrained space",
|
| 91 |
+
"confidence": 0.42
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"functional_labels": [
|
| 95 |
+
"connect cap to body",
|
| 96 |
+
"support cap attachment",
|
| 97 |
+
"provide transition to opening",
|
| 98 |
+
"help orient the top"
|
| 99 |
+
],
|
| 100 |
+
"semantic_description": "Short narrow pale mint-white plastic neck with a smooth semi-gloss finish and hard slick texture, positioned between the bottle shoulder and the black cap.",
|
| 101 |
+
"id": 2,
|
| 102 |
+
"grasp_group": {
|
| 103 |
+
"grasp_20": {
|
| 104 |
+
"confidence": 0.9343122839927673,
|
| 105 |
+
"position": [
|
| 106 |
+
-0.057600528467446566,
|
| 107 |
+
0.02316116471774876,
|
| 108 |
+
0.21320853475481272
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
+
"w": 0.1720380002200983,
|
| 112 |
+
"xyz": [
|
| 113 |
+
-0.5410982627465911,
|
| 114 |
+
0.7835515476620284,
|
| 115 |
+
-0.25231442425935635
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_21": {
|
| 120 |
+
"confidence": 0.922077476978302,
|
| 121 |
+
"position": [
|
| 122 |
+
0.02114040544256568,
|
| 123 |
+
-0.10351257282309234,
|
| 124 |
+
0.13856043759733438
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.7007077304396471,
|
| 128 |
+
"xyz": [
|
| 129 |
+
-0.7065604087036839,
|
| 130 |
+
-0.06438018006974955,
|
| 131 |
+
0.0750750142776454
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_22": {
|
| 136 |
+
"confidence": 0.9189885854721069,
|
| 137 |
+
"position": [
|
| 138 |
+
0.04791182978078723,
|
| 139 |
+
-0.09622137504629791,
|
| 140 |
+
0.1351973870769143
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.6977966831095055,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.6812179288715289,
|
| 146 |
+
-0.15167194926139915,
|
| 147 |
+
0.16129954194790616
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_23": {
|
| 152 |
+
"confidence": 0.9166951179504395,
|
| 153 |
+
"position": [
|
| 154 |
+
0.011729034129530191,
|
| 155 |
+
-0.10748945432715118,
|
| 156 |
+
0.1296606296673417
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.7214974489437477,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.6902348394141278,
|
| 162 |
+
-0.04418526717842608,
|
| 163 |
+
0.03263372168460971
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_24": {
|
| 168 |
+
"confidence": 0.9164484143257141,
|
| 169 |
+
"position": [
|
| 170 |
+
0.05098549975082278,
|
| 171 |
+
-0.09631613898091018,
|
| 172 |
+
0.1337931239977479
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.6909272428717759,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.6827641286319193,
|
| 178 |
+
-0.16896037144426512,
|
| 179 |
+
0.16704814453479622
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_25": {
|
| 184 |
+
"confidence": 0.912954568862915,
|
| 185 |
+
"position": [
|
| 186 |
+
0.046720664482563734,
|
| 187 |
+
-0.0950389455538243,
|
| 188 |
+
0.1324266055598855
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.6983279774719614,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.6817227781799146,
|
| 194 |
+
-0.15380402728872278,
|
| 195 |
+
0.15471396439994947
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_26": {
|
| 200 |
+
"confidence": 0.9094196557998657,
|
| 201 |
+
"position": [
|
| 202 |
+
-0.05135710956528783,
|
| 203 |
+
0.018829907523468137,
|
| 204 |
+
0.21432992164045572
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.21712298358007684,
|
| 208 |
+
"xyz": [
|
| 209 |
+
0.792257515853603,
|
| 210 |
+
0.5420247791577142,
|
| 211 |
+
0.17718571430506133
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_27": {
|
| 216 |
+
"confidence": 0.9081018567085266,
|
| 217 |
+
"position": [
|
| 218 |
+
0.04463203577324748,
|
| 219 |
+
-0.09340485441498458,
|
| 220 |
+
0.1378357196226716
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.693310804529733,
|
| 224 |
+
"xyz": [
|
| 225 |
+
-0.6889407717828202,
|
| 226 |
+
-0.15226202004909595,
|
| 227 |
+
0.1466186159673973
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_28": {
|
| 232 |
+
"confidence": 0.9080228209495544,
|
| 233 |
+
"position": [
|
| 234 |
+
-0.03201158018782735,
|
| 235 |
+
0.04383596149273217,
|
| 236 |
+
0.21719240490347147
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.07858256375228385,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.3170807345982945,
|
| 242 |
+
0.9105578616840176,
|
| 243 |
+
-0.2533159468848206
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_29": {
|
| 248 |
+
"confidence": 0.9074366092681885,
|
| 249 |
+
"position": [
|
| 250 |
+
0.000351892551407218,
|
| 251 |
+
-0.10743630933575332,
|
| 252 |
+
0.13074583653360605
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.7138624746136556,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.7002848643120052,
|
| 258 |
+
-0.0009870019818358777,
|
| 259 |
+
-0.0007085062262114347
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_30": {
|
| 264 |
+
"confidence": 0.9071606397628784,
|
| 265 |
+
"position": [
|
| 266 |
+
0.05080692796036601,
|
| 267 |
+
-0.09503031033091247,
|
| 268 |
+
0.1334000388160348
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.6803158282006729,
|
| 272 |
+
"xyz": [
|
| 273 |
+
-0.6935259394379533,
|
| 274 |
+
-0.16251638623177367,
|
| 275 |
+
0.17257047671169615
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_31": {
|
| 280 |
+
"confidence": 0.9063454866409302,
|
| 281 |
+
"position": [
|
| 282 |
+
0.02543211868032813,
|
| 283 |
+
-0.1026235620956868,
|
| 284 |
+
0.13080300483852625
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.7146329649634287,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.6892012815457718,
|
| 290 |
+
-0.09804553061250487,
|
| 291 |
+
0.06847183968725484
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_32": {
|
| 296 |
+
"confidence": 0.9025526642799377,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.02992238150909543,
|
| 299 |
+
0.041097280802205205,
|
| 300 |
+
0.21535537485033274
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.0824237344548941,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.34459814222910734,
|
| 306 |
+
0.9008963965322049,
|
| 307 |
+
-0.2506873173617794
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_33": {
|
| 312 |
+
"confidence": 0.900325357913971,
|
| 313 |
+
"position": [
|
| 314 |
+
0.03921649930998683,
|
| 315 |
+
-0.029873042134568095,
|
| 316 |
+
0.21314068976789713
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.13659267080569504,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.41858350733417465,
|
| 322 |
+
-0.8635613738509932,
|
| 323 |
+
-0.2457479262630176
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_34": {
|
| 328 |
+
"confidence": 0.8999475240707397,
|
| 329 |
+
"position": [
|
| 330 |
+
0.0030245387461036444,
|
| 331 |
+
0.0027823438867926598,
|
| 332 |
+
0.2238299185410142
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.008539053224041027,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.4105498113829931,
|
| 338 |
+
0.9117522641505291,
|
| 339 |
+
0.009151270939598399
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_35": {
|
| 344 |
+
"confidence": 0.8992456197738647,
|
| 345 |
+
"position": [
|
| 346 |
+
0.037804368417710066,
|
| 347 |
+
-0.03373058023862541,
|
| 348 |
+
0.21612436417490244
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.24464975489850285,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.8796702316089766,
|
| 354 |
+
-0.39611361413156276,
|
| 355 |
+
0.09706073226976741
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_36": {
|
| 360 |
+
"confidence": 0.8989911675453186,
|
| 361 |
+
"position": [
|
| 362 |
+
-0.04539695056155324,
|
| 363 |
+
-0.017503765178844333,
|
| 364 |
+
0.2154446030035615
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.2377213376639438,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.7680931664527667,
|
| 370 |
+
0.5757575001543158,
|
| 371 |
+
-0.1484073929556094
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_37": {
|
| 376 |
+
"confidence": 0.8983286023139954,
|
| 377 |
+
"position": [
|
| 378 |
+
0.04339183820411563,
|
| 379 |
+
-0.09595428663305938,
|
| 380 |
+
0.13039467576891184
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.15148892419109208,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.1338063964917995,
|
| 386 |
+
-0.6772650201636343,
|
| 387 |
+
-0.7074313016597844
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_38": {
|
| 392 |
+
"confidence": 0.8972300291061401,
|
| 393 |
+
"position": [
|
| 394 |
+
0.04529540194198489,
|
| 395 |
+
0.091777314664796,
|
| 396 |
+
0.1360475728288293
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.16127659007855022,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.14750202621445735,
|
| 402 |
+
-0.6833949740958147,
|
| 403 |
+
0.6965660938746914
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_39": {
|
| 408 |
+
"confidence": 0.8970370888710022,
|
| 409 |
+
"position": [
|
| 410 |
+
0.037144440691918135,
|
| 411 |
+
-0.095808933256194,
|
| 412 |
+
0.1339599722996354
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.7038900303930442,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.6880860060818094,
|
| 418 |
+
-0.13112120026851404,
|
| 419 |
+
0.1178291313207744
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
}
|
| 423 |
+
}
|
| 424 |
+
},
|
| 425 |
+
{
|
| 426 |
+
"part_name": "cap",
|
| 427 |
+
"mask_color": "Yellow",
|
| 428 |
+
"graspable": true,
|
| 429 |
+
"grasp_scenarios": [
|
| 430 |
+
{
|
| 431 |
+
"scenario": "grasp the cap to twist it open or closed",
|
| 432 |
+
"confidence": 0.88
|
| 433 |
+
},
|
| 434 |
+
{
|
| 435 |
+
"scenario": "hold the cap to pull and slightly reposition the bottle",
|
| 436 |
+
"confidence": 0.46
|
| 437 |
+
}
|
| 438 |
+
],
|
| 439 |
+
"functional_labels": [
|
| 440 |
+
"close the bottle opening",
|
| 441 |
+
"seal contents",
|
| 442 |
+
"enable opening and dispensing",
|
| 443 |
+
"provide top grip for twisting"
|
| 444 |
+
],
|
| 445 |
+
"semantic_description": "Small black plastic cap with a matte to low-gloss finish, hard slightly textured surface, and short cylindrical shape at the top of the bottle.",
|
| 446 |
+
"id": 3,
|
| 447 |
+
"grasp_group": {
|
| 448 |
+
"grasp_40": {
|
| 449 |
+
"confidence": 0.895694375038147,
|
| 450 |
+
"position": [
|
| 451 |
+
-0.014135672245174646,
|
| 452 |
+
-0.10354215907864273,
|
| 453 |
+
0.14294070843607187
|
| 454 |
+
],
|
| 455 |
+
"orientation": {
|
| 456 |
+
"w": 0.7049886591511212,
|
| 457 |
+
"xyz": [
|
| 458 |
+
-0.7054731578931379,
|
| 459 |
+
0.05279625100675911,
|
| 460 |
+
-0.050111573914810206
|
| 461 |
+
]
|
| 462 |
+
}
|
| 463 |
+
},
|
| 464 |
+
"grasp_41": {
|
| 465 |
+
"confidence": 0.8926434516906738,
|
| 466 |
+
"position": [
|
| 467 |
+
0.04938006727024913,
|
| 468 |
+
-0.09230983513407409,
|
| 469 |
+
0.1467046970501542
|
| 470 |
+
],
|
| 471 |
+
"orientation": {
|
| 472 |
+
"w": 0.6854679555873429,
|
| 473 |
+
"xyz": [
|
| 474 |
+
-0.6867907553851929,
|
| 475 |
+
-0.17506342421088283,
|
| 476 |
+
0.16674812647794693
|
| 477 |
+
]
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"grasp_42": {
|
| 481 |
+
"confidence": 0.8917024731636047,
|
| 482 |
+
"position": [
|
| 483 |
+
-0.09360857354477048,
|
| 484 |
+
0.05106638488359749,
|
| 485 |
+
0.14707400742918253
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.34457998281533353,
|
| 489 |
+
"xyz": [
|
| 490 |
+
-0.35870911066844,
|
| 491 |
+
0.6199660462012992,
|
| 492 |
+
-0.6068232946451297
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_43": {
|
| 497 |
+
"confidence": 0.8860859870910645,
|
| 498 |
+
"position": [
|
| 499 |
+
0.10419283015653491,
|
| 500 |
+
-0.026474279118701816,
|
| 501 |
+
0.1432271683588624
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.43531201117221663,
|
| 505 |
+
"xyz": [
|
| 506 |
+
0.431636093896833,
|
| 507 |
+
-0.5522316176548632,
|
| 508 |
+
-0.5650079431627286
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_44": {
|
| 513 |
+
"confidence": 0.8843681812286377,
|
| 514 |
+
"position": [
|
| 515 |
+
-0.09760569827631116,
|
| 516 |
+
0.04155706730671227,
|
| 517 |
+
0.14227565471082926
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.603233120309543,
|
| 521 |
+
"xyz": [
|
| 522 |
+
0.5766317908780955,
|
| 523 |
+
0.3858900100418776,
|
| 524 |
+
0.3933121921072527
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_45": {
|
| 529 |
+
"confidence": 0.8819701075553894,
|
| 530 |
+
"position": [
|
| 531 |
+
0.029038294684141874,
|
| 532 |
+
-0.09690920519642532,
|
| 533 |
+
0.14518254343420267
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.6955829725893159,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.703219579986725,
|
| 539 |
+
-0.10576911665088828,
|
| 540 |
+
0.10227142577472864
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"grasp_46": {
|
| 545 |
+
"confidence": 0.8689254522323608,
|
| 546 |
+
"position": [
|
| 547 |
+
0.09557110024616122,
|
| 548 |
+
-0.03987911972217262,
|
| 549 |
+
0.14040497783571482
|
| 550 |
+
],
|
| 551 |
+
"orientation": {
|
| 552 |
+
"w": 0.5929977998755425,
|
| 553 |
+
"xyz": [
|
| 554 |
+
-0.5858652327847893,
|
| 555 |
+
-0.3931688774621156,
|
| 556 |
+
0.38798681955959674
|
| 557 |
+
]
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"grasp_47": {
|
| 561 |
+
"confidence": 0.8577325344085693,
|
| 562 |
+
"position": [
|
| 563 |
+
0.09556465549394488,
|
| 564 |
+
-0.037511157570406795,
|
| 565 |
+
0.1465184474363923
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.5888606457096978,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.5823305865706191,
|
| 571 |
+
-0.3995430442093799,
|
| 572 |
+
0.39306435058725175
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"grasp_48": {
|
| 577 |
+
"confidence": 0.8492630124092102,
|
| 578 |
+
"position": [
|
| 579 |
+
0.09378667874261737,
|
| 580 |
+
-0.041529058245942,
|
| 581 |
+
0.14192623738199472
|
| 582 |
+
],
|
| 583 |
+
"orientation": {
|
| 584 |
+
"w": 0.5960259068614734,
|
| 585 |
+
"xyz": [
|
| 586 |
+
-0.5919452862757187,
|
| 587 |
+
-0.38368378867796993,
|
| 588 |
+
0.38358916396534726
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"grasp_49": {
|
| 593 |
+
"confidence": 0.8489248752593994,
|
| 594 |
+
"position": [
|
| 595 |
+
0.06555222673341632,
|
| 596 |
+
0.07463724655099213,
|
| 597 |
+
0.1449475074186921
|
| 598 |
+
],
|
| 599 |
+
"orientation": {
|
| 600 |
+
"w": 0.25366672099276344,
|
| 601 |
+
"xyz": [
|
| 602 |
+
-0.2358889811695975,
|
| 603 |
+
-0.6660965629391047,
|
| 604 |
+
0.660548977793668
|
| 605 |
+
]
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"grasp_50": {
|
| 609 |
+
"confidence": 0.8467016220092773,
|
| 610 |
+
"position": [
|
| 611 |
+
0.06486170692369342,
|
| 612 |
+
0.0759241480845958,
|
| 613 |
+
0.14461939875036478
|
| 614 |
+
],
|
| 615 |
+
"orientation": {
|
| 616 |
+
"w": 0.25129541674702893,
|
| 617 |
+
"xyz": [
|
| 618 |
+
-0.23225426159275553,
|
| 619 |
+
-0.6624304593080129,
|
| 620 |
+
0.6664041251935016
|
| 621 |
+
]
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"grasp_51": {
|
| 625 |
+
"confidence": 0.8445045948028564,
|
| 626 |
+
"position": [
|
| 627 |
+
0.09336125059053302,
|
| 628 |
+
-0.041850658832117915,
|
| 629 |
+
0.14246051851660013
|
| 630 |
+
],
|
| 631 |
+
"orientation": {
|
| 632 |
+
"w": 0.597805426764858,
|
| 633 |
+
"xyz": [
|
| 634 |
+
-0.5920504611007364,
|
| 635 |
+
-0.3834890712992617,
|
| 636 |
+
0.38084255990490534
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"grasp_52": {
|
| 641 |
+
"confidence": 0.8440708518028259,
|
| 642 |
+
"position": [
|
| 643 |
+
-0.024615698028355837,
|
| 644 |
+
0.10018206876702607,
|
| 645 |
+
0.13795407954603434
|
| 646 |
+
],
|
| 647 |
+
"orientation": {
|
| 648 |
+
"w": 0.7211058411949877,
|
| 649 |
+
"xyz": [
|
| 650 |
+
0.6822341923211299,
|
| 651 |
+
0.08823106314017215,
|
| 652 |
+
0.08232953370182279
|
| 653 |
+
]
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"grasp_53": {
|
| 657 |
+
"confidence": 0.8428305387496948,
|
| 658 |
+
"position": [
|
| 659 |
+
0.10577388061210513,
|
| 660 |
+
0.0014055766514502466,
|
| 661 |
+
0.14601535443216562
|
| 662 |
+
],
|
| 663 |
+
"orientation": {
|
| 664 |
+
"w": 0.5002372816256011,
|
| 665 |
+
"xyz": [
|
| 666 |
+
-0.4841173269449605,
|
| 667 |
+
-0.5164521734737741,
|
| 668 |
+
0.4986684553264918
|
| 669 |
+
]
|
| 670 |
+
}
|
| 671 |
+
},
|
| 672 |
+
"grasp_54": {
|
| 673 |
+
"confidence": 0.8384259343147278,
|
| 674 |
+
"position": [
|
| 675 |
+
-0.09880990581586957,
|
| 676 |
+
0.026610172586515546,
|
| 677 |
+
0.14014258328825235
|
| 678 |
+
],
|
| 679 |
+
"orientation": {
|
| 680 |
+
"w": 0.5722696397820748,
|
| 681 |
+
"xyz": [
|
| 682 |
+
0.5477822214672611,
|
| 683 |
+
0.4217954099324429,
|
| 684 |
+
0.4410563789222522
|
| 685 |
+
]
|
| 686 |
+
}
|
| 687 |
+
},
|
| 688 |
+
"grasp_55": {
|
| 689 |
+
"confidence": 0.836237370967865,
|
| 690 |
+
"position": [
|
| 691 |
+
0.07003971887752414,
|
| 692 |
+
-0.08071305858902633,
|
| 693 |
+
0.13837739173322916
|
| 694 |
+
],
|
| 695 |
+
"orientation": {
|
| 696 |
+
"w": 0.24485700497334942,
|
| 697 |
+
"xyz": [
|
| 698 |
+
0.22879687180498956,
|
| 699 |
+
-0.6546424498350168,
|
| 700 |
+
-0.6775989237312428
|
| 701 |
+
]
|
| 702 |
+
}
|
| 703 |
+
},
|
| 704 |
+
"grasp_56": {
|
| 705 |
+
"confidence": 0.8348923325538635,
|
| 706 |
+
"position": [
|
| 707 |
+
0.08907656325027347,
|
| 708 |
+
0.010090782539919019,
|
| 709 |
+
0.18597120884805918
|
| 710 |
+
],
|
| 711 |
+
"orientation": {
|
| 712 |
+
"w": 0.41256439253551297,
|
| 713 |
+
"xyz": [
|
| 714 |
+
0.6184330545145139,
|
| 715 |
+
-0.5752680301370884,
|
| 716 |
+
-0.34117132440732045
|
| 717 |
+
]
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
"grasp_57": {
|
| 721 |
+
"confidence": 0.8341052532196045,
|
| 722 |
+
"position": [
|
| 723 |
+
-0.06598160462453961,
|
| 724 |
+
0.08408219111151993,
|
| 725 |
+
0.13698161486536264
|
| 726 |
+
],
|
| 727 |
+
"orientation": {
|
| 728 |
+
"w": 0.6852707207905209,
|
| 729 |
+
"xyz": [
|
| 730 |
+
0.644349040773707,
|
| 731 |
+
0.23689431921216442,
|
| 732 |
+
0.24310375234917359
|
| 733 |
+
]
|
| 734 |
+
}
|
| 735 |
+
},
|
| 736 |
+
"grasp_58": {
|
| 737 |
+
"confidence": 0.8308387398719788,
|
| 738 |
+
"position": [
|
| 739 |
+
0.09168470604345202,
|
| 740 |
+
0.054690388264134526,
|
| 741 |
+
0.1433889651671052
|
| 742 |
+
],
|
| 743 |
+
"orientation": {
|
| 744 |
+
"w": 0.6224728821487859,
|
| 745 |
+
"xyz": [
|
| 746 |
+
0.6116234636498035,
|
| 747 |
+
-0.3330866852840483,
|
| 748 |
+
-0.35706793441708934
|
| 749 |
+
]
|
| 750 |
+
}
|
| 751 |
+
},
|
| 752 |
+
"grasp_59": {
|
| 753 |
+
"confidence": 0.830402672290802,
|
| 754 |
+
"position": [
|
| 755 |
+
0.017898311372846365,
|
| 756 |
+
0.10068561625666916,
|
| 757 |
+
0.15033008996397257
|
| 758 |
+
],
|
| 759 |
+
"orientation": {
|
| 760 |
+
"w": 0.0762473585889345,
|
| 761 |
+
"xyz": [
|
| 762 |
+
-0.05002790269930927,
|
| 763 |
+
-0.7195337331845489,
|
| 764 |
+
0.6884437203353843
|
| 765 |
+
]
|
| 766 |
+
}
|
| 767 |
+
}
|
| 768 |
+
}
|
| 769 |
+
}
|
| 770 |
+
],
|
| 771 |
+
"quality_check": {
|
| 772 |
+
"success": true,
|
| 773 |
+
"message": "YES"
|
| 774 |
+
}
|
| 775 |
+
}
|
dataset/bathroom_supplies/bath_products/a5ceb097351d53ea9e6809bd89128889/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc13ff422e756615bc977118eb32e4421fcc9feda49ec49e881d3af79780a03e
|
| 3 |
+
size 3782428
|