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
fb4c0b6
·
verified ·
1 Parent(s): 8cca815

Add asset bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19

Browse files
Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/affordance_annot.json +726 -0
  3. dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/mesh_part_seg.glb +3 -0
.gitattributes CHANGED
@@ -5682,3 +5682,4 @@ dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/afforda
5682
  dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5683
  dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5684
  dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5682
  dataset/bathroom_supplies/bath_products/c1117c44462f5b0e9a459e82ea94fab4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5683
  dataset/bathroom_supplies/bath_products/c28e5cb0376d5667ae083f14666b5468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5684
  dataset/bathroom_supplies/bath_products/c41e47ae529e57efbafe923f2a8dfac7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5685
+ dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/affordance_annot.json ADDED
@@ -0,0 +1,726 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 from the sides to pick up and move the bottle",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the bottle body while pressing the pump",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the bottle body to orient it for dispensing",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain liquid product",
23
+ "main grasp surface",
24
+ "support dispensing",
25
+ "provide structural housing",
26
+ "support standing on a surface"
27
+ ],
28
+ "semantic_description": "Large off-white plastic bottle body with a smooth slightly glossy hard surface, tapered rectangular shape with rounded edges, printed black characters and red seal-like marks on the front, forming the main lower portion.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9878638386726379,
33
+ "position": [
34
+ 0.00021372633636929095,
35
+ 0.11675340757938102,
36
+ -0.03374805115163326
37
+ ],
38
+ "orientation": {
39
+ "w": 0.008669908231565932,
40
+ "xyz": [
41
+ -0.006392218306291426,
42
+ -0.7208382162037453,
43
+ 0.6930196521719881
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9841440916061401,
49
+ "position": [
50
+ 0.002021470572799444,
51
+ 0.11299413518281654,
52
+ -0.03441075421869755
53
+ ],
54
+ "orientation": {
55
+ "w": 0.005328315540678868,
56
+ "xyz": [
57
+ -0.008258088659578874,
58
+ -0.7165743097736683,
59
+ 0.697441518406798
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9822295904159546,
65
+ "position": [
66
+ 0.006401329999789596,
67
+ 0.11308125482173637,
68
+ -0.04349897243082523
69
+ ],
70
+ "orientation": {
71
+ "w": 0.008346057465011988,
72
+ "xyz": [
73
+ -0.011494797621708018,
74
+ -0.7037413455261378,
75
+ 0.7103142484488739
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9821404814720154,
81
+ "position": [
82
+ 0.002635339740663767,
83
+ 0.12154178397031501,
84
+ -0.03796007297933102
85
+ ],
86
+ "orientation": {
87
+ "w": 0.003007093705416405,
88
+ "xyz": [
89
+ -0.0030565614588923986,
90
+ -0.7139584741082331,
91
+ 0.7001749153379739
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9814650416374207,
97
+ "position": [
98
+ -0.005728221731260419,
99
+ -0.11726088746218011,
100
+ -0.04929361306130886
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7172043139768297,
104
+ "xyz": [
105
+ -0.6965155062909979,
106
+ 0.006153104208844962,
107
+ -0.021124886220164524
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9814117550849915,
113
+ "position": [
114
+ 0.0039045114535838366,
115
+ -0.11898603959707543,
116
+ -0.04688945226371288
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6962682106917315,
120
+ "xyz": [
121
+ -0.7176913395620756,
122
+ -0.00599519986194974,
123
+ 0.00968387713385554
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.981101393699646,
129
+ "position": [
130
+ 0.0011451375321485102,
131
+ 0.1136849753675051,
132
+ -0.01987517438828945
133
+ ],
134
+ "orientation": {
135
+ "w": 0.011641522335136543,
136
+ "xyz": [
137
+ -0.009193015412204462,
138
+ -0.7120073545632458,
139
+ 0.7020153064379724
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9810993075370789,
145
+ "position": [
146
+ 0.002617308869957924,
147
+ 0.11947420315118507,
148
+ -0.020824983716011047
149
+ ],
150
+ "orientation": {
151
+ "w": 0.008254747394632516,
152
+ "xyz": [
153
+ 0.0016049291102438036,
154
+ -0.709983616786611,
155
+ 0.7041679822617646
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9806472063064575,
161
+ "position": [
162
+ 0.0010165927815251052,
163
+ 0.11849129275651649,
164
+ -0.03619341738522053
165
+ ],
166
+ "orientation": {
167
+ "w": 0.7129036479367863,
168
+ "xyz": [
169
+ 0.7011907054958368,
170
+ 0.0042353458305347536,
171
+ 0.009057876703144464
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9805622696876526,
177
+ "position": [
178
+ -0.0013074878370389342,
179
+ 0.11263569520087913,
180
+ -0.02191147767007351
181
+ ],
182
+ "orientation": {
183
+ "w": 0.0002228777234014587,
184
+ "xyz": [
185
+ 0.005052303586266518,
186
+ -0.7184153034938769,
187
+ 0.6955960582549283
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9799094796180725,
193
+ "position": [
194
+ 0.005832939641550183,
195
+ 0.11912911460967734,
196
+ -0.05884416587650776
197
+ ],
198
+ "orientation": {
199
+ "w": 0.003146330098279124,
200
+ "xyz": [
201
+ -0.027050214293743477,
202
+ -0.6918888957885837,
203
+ 0.7214902233558194
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9797302484512329,
209
+ "position": [
210
+ 0.0037290905602276325,
211
+ 0.11583317891927436,
212
+ -0.05703199841082096
213
+ ],
214
+ "orientation": {
215
+ "w": 0.008351185572428635,
216
+ "xyz": [
217
+ -0.00036115663936934036,
218
+ -0.7034039205894419,
219
+ 0.7107411988655359
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9796497821807861,
225
+ "position": [
226
+ 0.001909766928292811,
227
+ 0.11338844225974753,
228
+ -0.051919734105467796
229
+ ],
230
+ "orientation": {
231
+ "w": 0.773412171649778,
232
+ "xyz": [
233
+ 0.633730773138136,
234
+ -0.006378650318803691,
235
+ 0.013350383583466338
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9794403910636902,
241
+ "position": [
242
+ 0.006477084709331393,
243
+ -0.12064003123668954,
244
+ -0.04344877041876316
245
+ ],
246
+ "orientation": {
247
+ "w": 0.01090071374123021,
248
+ "xyz": [
249
+ 0.011516878583297535,
250
+ -0.7062082956624264,
251
+ -0.7078265176476513
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9794138073921204,
257
+ "position": [
258
+ 0.00610926398076117,
259
+ -0.12030386104015633,
260
+ -0.04626167379319668
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7097299471687848,
264
+ "xyz": [
265
+ -0.704278706024219,
266
+ -0.012104746911358433,
267
+ 0.01133055315761647
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9793379306793213,
273
+ "position": [
274
+ 0.0017901647370308638,
275
+ -0.12001705094007775,
276
+ -0.05373811163008213
277
+ ],
278
+ "orientation": {
279
+ "w": 0.7135613860345116,
280
+ "xyz": [
281
+ -0.7005472664410081,
282
+ -0.003928630425224844,
283
+ -0.006945624919339308
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.979316771030426,
289
+ "position": [
290
+ 0.0018871643114835024,
291
+ -0.11837580724386498,
292
+ -0.05788068287074566
293
+ ],
294
+ "orientation": {
295
+ "w": 0.003929441995342165,
296
+ "xyz": [
297
+ 0.003524920385118101,
298
+ -0.7027994670902039,
299
+ -0.711368430196062
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9788111448287964,
305
+ "position": [
306
+ 0.002263470320031047,
307
+ -0.11190519406227395,
308
+ -0.07306351698935032
309
+ ],
310
+ "orientation": {
311
+ "w": 0.795823933760368,
312
+ "xyz": [
313
+ -0.6054123074555741,
314
+ 0.003136530232093815,
315
+ 0.011417820001842471
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9787886142730713,
321
+ "position": [
322
+ 0.0066015704069286585,
323
+ -0.11787018104223534,
324
+ -0.06119263730943203
325
+ ],
326
+ "orientation": {
327
+ "w": 0.7305433824545801,
328
+ "xyz": [
329
+ -0.6824883326776227,
330
+ -0.022713224296860846,
331
+ 0.00038929780522482777
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9783771634101868,
337
+ "position": [
338
+ 0.003280160017311573,
339
+ -0.12126397265819833,
340
+ -0.03217531368136406
341
+ ],
342
+ "orientation": {
343
+ "w": 0.7091647826011932,
344
+ "xyz": [
345
+ -0.7050350467434359,
346
+ -0.002730796539715752,
347
+ 0.0018538424804451276
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "pump collar",
355
+ "mask_color": "Green",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the neck collar to stabilize the bottle during pump manipulation",
360
+ "confidence": 0.42
361
+ },
362
+ {
363
+ "scenario": "pinch the collar area to reorient the bottle in a constrained space",
364
+ "confidence": 0.31
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "connect pump to bottle",
369
+ "seal the bottle opening",
370
+ "support pump assembly",
371
+ "form the neck region"
372
+ ],
373
+ "semantic_description": "Short black plastic cylindrical collar with a glossy smooth hard finish around the bottle opening, smaller than the body and located directly beneath the pump head.",
374
+ "id": 1,
375
+ "grasp_group": {
376
+ "grasp_20": {
377
+ "confidence": 0.966305136680603,
378
+ "position": [
379
+ -0.0035399470943957567,
380
+ 0.09459169284673408,
381
+ 0.11107935570180416
382
+ ],
383
+ "orientation": {
384
+ "w": 0.519325695075517,
385
+ "xyz": [
386
+ 0.8544228419154442,
387
+ 0.01022953058102094,
388
+ 0.012561303736416748
389
+ ]
390
+ }
391
+ },
392
+ "grasp_21": {
393
+ "confidence": 0.9596758484840393,
394
+ "position": [
395
+ 0.0037781866267323494,
396
+ 0.09399482683511451,
397
+ 0.11865482293069363
398
+ ],
399
+ "orientation": {
400
+ "w": 0.01139477401137476,
401
+ "xyz": [
402
+ -0.018257085936563,
403
+ -0.874486297052477,
404
+ 0.4845725479283591
405
+ ]
406
+ }
407
+ },
408
+ "grasp_22": {
409
+ "confidence": 0.9582450985908508,
410
+ "position": [
411
+ 0.0042664366774261,
412
+ 0.09576194063993171,
413
+ 0.10594206862151623
414
+ ],
415
+ "orientation": {
416
+ "w": 0.5087141024383497,
417
+ "xyz": [
418
+ 0.8607139957883774,
419
+ 0.01544417533333342,
420
+ -0.01195227520695284
421
+ ]
422
+ }
423
+ },
424
+ "grasp_23": {
425
+ "confidence": 0.9543901085853577,
426
+ "position": [
427
+ 0.0017363429069519043,
428
+ 0.09204710350604728,
429
+ 0.10944119654595852
430
+ ],
431
+ "orientation": {
432
+ "w": 0.5199981732364017,
433
+ "xyz": [
434
+ 0.8537816697983553,
435
+ 0.025555191688016787,
436
+ -0.002385859368322632
437
+ ]
438
+ }
439
+ },
440
+ "grasp_24": {
441
+ "confidence": 0.9536337852478027,
442
+ "position": [
443
+ 0.0016510167624801397,
444
+ 0.09025918768020347,
445
+ 0.11037360690534115
446
+ ],
447
+ "orientation": {
448
+ "w": 0.512119940036296,
449
+ "xyz": [
450
+ 0.858683536948432,
451
+ 0.01917497049800332,
452
+ -0.0052981975569187005
453
+ ]
454
+ }
455
+ },
456
+ "grasp_25": {
457
+ "confidence": 0.950505256652832,
458
+ "position": [
459
+ 0.0023610894568264484,
460
+ 0.09241707698674873,
461
+ 0.10714312456548214
462
+ ],
463
+ "orientation": {
464
+ "w": 0.5042559807195162,
465
+ "xyz": [
466
+ 0.863417147458042,
467
+ 0.015219538190655135,
468
+ -0.002258548489610303
469
+ ]
470
+ }
471
+ },
472
+ "grasp_26": {
473
+ "confidence": 0.9500353336334229,
474
+ "position": [
475
+ 0.0042299393098801374,
476
+ 0.09629362897248939,
477
+ 0.101662902161479
478
+ ],
479
+ "orientation": {
480
+ "w": 0.5094181250202152,
481
+ "xyz": [
482
+ 0.8602045906585245,
483
+ 0.022214186205459896,
484
+ -0.006911298149974963
485
+ ]
486
+ }
487
+ },
488
+ "grasp_27": {
489
+ "confidence": 0.9443200826644897,
490
+ "position": [
491
+ 0.0010714962263591588,
492
+ 0.07418077514739707,
493
+ 0.13405676744878292
494
+ ],
495
+ "orientation": {
496
+ "w": 0.3748576125340309,
497
+ "xyz": [
498
+ 0.9267567239318594,
499
+ 0.02402905084636492,
500
+ -0.005133194696955234
501
+ ]
502
+ }
503
+ },
504
+ "grasp_28": {
505
+ "confidence": 0.9380943179130554,
506
+ "position": [
507
+ 0.0026405390817672014,
508
+ 0.08652371243806556,
509
+ 0.1117099430412054
510
+ ],
511
+ "orientation": {
512
+ "w": 0.49791721882612583,
513
+ "xyz": [
514
+ 0.8668151709569687,
515
+ 0.025896919259267126,
516
+ -0.00626515507996786
517
+ ]
518
+ }
519
+ },
520
+ "grasp_29": {
521
+ "confidence": 0.9366270303726196,
522
+ "position": [
523
+ 0.0038896999321877956,
524
+ 0.09527120069833472,
525
+ 0.10659090243279934
526
+ ],
527
+ "orientation": {
528
+ "w": 0.005357076665284562,
529
+ "xyz": [
530
+ 0.006211708538595869,
531
+ -0.8623710495357685,
532
+ 0.5062103212393161
533
+ ]
534
+ }
535
+ },
536
+ "grasp_31": {
537
+ "confidence": 0.9334918856620789,
538
+ "position": [
539
+ -0.0007944203680381179,
540
+ 0.0813378177699633,
541
+ 0.13188019953668118
542
+ ],
543
+ "orientation": {
544
+ "w": 0.025209218020322062,
545
+ "xyz": [
546
+ 0.008923657957327929,
547
+ 0.9154894766426046,
548
+ -0.4014522161006379
549
+ ]
550
+ }
551
+ },
552
+ "grasp_34": {
553
+ "confidence": 0.9279828071594238,
554
+ "position": [
555
+ 4.9284950364381075e-05,
556
+ 0.085445792239625,
557
+ 0.11540423892438412
558
+ ],
559
+ "orientation": {
560
+ "w": 0.002720515621024123,
561
+ "xyz": [
562
+ -0.003098855627689767,
563
+ -0.8702285330037061,
564
+ 0.49263099398512533
565
+ ]
566
+ }
567
+ },
568
+ "grasp_35": {
569
+ "confidence": 0.9274212718009949,
570
+ "position": [
571
+ -0.016421999083831906,
572
+ 0.09263819531770423,
573
+ 0.09880474023520947
574
+ ],
575
+ "orientation": {
576
+ "w": 0.07302378264566535,
577
+ "xyz": [
578
+ -0.021695943383044224,
579
+ 0.8557682834215641,
580
+ -0.5117200976105467
581
+ ]
582
+ }
583
+ },
584
+ "grasp_36": {
585
+ "confidence": 0.9229966402053833,
586
+ "position": [
587
+ 0.0030518234707415104,
588
+ 0.094036259513814,
589
+ 0.1083661075681448
590
+ ],
591
+ "orientation": {
592
+ "w": 0.02017178076926569,
593
+ "xyz": [
594
+ 0.0004969514563696225,
595
+ 0.8739603622277561,
596
+ -0.4855781477317285
597
+ ]
598
+ }
599
+ },
600
+ "grasp_37": {
601
+ "confidence": 0.9207532405853271,
602
+ "position": [
603
+ 0.0016582044772803783,
604
+ 0.09188233391614631,
605
+ 0.10409140400588512
606
+ ],
607
+ "orientation": {
608
+ "w": 0.0059329673090011545,
609
+ "xyz": [
610
+ 0.00823273843681302,
611
+ -0.8653998116489785,
612
+ 0.5009792290251699
613
+ ]
614
+ }
615
+ },
616
+ "grasp_38": {
617
+ "confidence": 0.917708158493042,
618
+ "position": [
619
+ 0.0023807610850781202,
620
+ 0.06435661838622764,
621
+ 0.14420904777944088
622
+ ],
623
+ "orientation": {
624
+ "w": 0.27526805204942867,
625
+ "xyz": [
626
+ 0.9608269193751153,
627
+ 0.032234872136009174,
628
+ -0.0002086705865554623
629
+ ]
630
+ }
631
+ },
632
+ "grasp_39": {
633
+ "confidence": 0.9029133915901184,
634
+ "position": [
635
+ 0.0051073438953608274,
636
+ 0.08904742525191978,
637
+ 0.10160562954843044
638
+ ],
639
+ "orientation": {
640
+ "w": 0.5059330820076094,
641
+ "xyz": [
642
+ 0.8622227328369068,
643
+ 0.02313745478820961,
644
+ -0.008266419748657623
645
+ ]
646
+ }
647
+ }
648
+ }
649
+ },
650
+ {
651
+ "part_name": "pump nozzle head",
652
+ "mask_color": "Yellow",
653
+ "graspable": true,
654
+ "grasp_scenarios": [
655
+ {
656
+ "scenario": "press down on the pump head to dispense liquid",
657
+ "confidence": 0.95
658
+ },
659
+ {
660
+ "scenario": "lightly pinch or turn the nozzle head to unlock or orient it",
661
+ "confidence": 0.52
662
+ }
663
+ ],
664
+ "functional_labels": [
665
+ "dispense liquid product",
666
+ "direct output flow",
667
+ "actuate the pump when pressed",
668
+ "indicate dispensing direction"
669
+ ],
670
+ "semantic_description": "Curved black plastic pump head with a glossy smooth hard surface, projecting sideways from the top as a small lever-like spout used for dispensing.",
671
+ "id": 3,
672
+ "grasp_group": {
673
+ "grasp_49": {
674
+ "confidence": 0.6597078442573547,
675
+ "position": [
676
+ 0.09053965355269611,
677
+ -0.018105195078533143,
678
+ 0.13713418506085873
679
+ ],
680
+ "orientation": {
681
+ "w": 0.3358493948292148,
682
+ "xyz": [
683
+ 0.5541426730791483,
684
+ -0.6600035451677897,
685
+ -0.3801662823443137
686
+ ]
687
+ }
688
+ },
689
+ "grasp_51": {
690
+ "confidence": 0.6442418694496155,
691
+ "position": [
692
+ 0.08369256253354251,
693
+ -0.0010114502510987222,
694
+ 0.1364536341279745
695
+ ],
696
+ "orientation": {
697
+ "w": 0.3557449876477245,
698
+ "xyz": [
699
+ 0.6249970847396731,
700
+ -0.5908574343512859,
701
+ -0.36566602262480735
702
+ ]
703
+ }
704
+ }
705
+ }
706
+ },
707
+ {
708
+ "part_name": "pump stem top",
709
+ "mask_color": "Orange",
710
+ "graspable": false,
711
+ "grasp_scenarios": [],
712
+ "functional_labels": [
713
+ "join pump head to collar",
714
+ "transmit pump motion",
715
+ "support the pump head"
716
+ ],
717
+ "semantic_description": "Small black plastic ring-like upper pump section with a smooth glossy hard finish, sitting between the curved nozzle head and the cylindrical collar at the bottle top.",
718
+ "id": 4,
719
+ "grasp_group": {}
720
+ }
721
+ ],
722
+ "quality_check": {
723
+ "success": true,
724
+ "message": "YES"
725
+ }
726
+ }
dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3ce4034f8112a7050a5e051ccb5604aa91baff3b900cbd11e86bcd0aeb85a62
3
+ size 3782580