Add asset bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f
Browse files
.gitattributes
CHANGED
|
@@ -8031,3 +8031,4 @@ dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/afforda
|
|
| 8031 |
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8032 |
dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8033 |
dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8031 |
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8032 |
dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8033 |
dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8034 |
+
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,781 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main tube body to pick up and move the tube",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while twisting the cap open or closed",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the tube body to help dispense contents",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"squeezable dispensing reservoir",
|
| 25 |
+
"support printed branding and product information"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered plastic tube body with a smooth slightly glossy surface, mostly blue on the upper portion and white on the lower portion, with printed logo and text on the front.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9900166392326355,
|
| 32 |
+
"position": [
|
| 33 |
+
0.059229099337244406,
|
| 34 |
+
-0.08139424591354327,
|
| 35 |
+
-0.02747195982374251
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.217238208341358,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.22579249951604094,
|
| 41 |
+
-0.6741728084044626,
|
| 42 |
+
-0.668817114319733
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9884491562843323,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.02696248408756219,
|
| 50 |
+
0.10341601998516126,
|
| 51 |
+
-0.013126230100169778
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.09996256144660107,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.10666822492799634,
|
| 57 |
+
0.7024410510205775,
|
| 58 |
+
-0.6965672587344678
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9877838492393494,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03176566478214227,
|
| 66 |
+
0.09743697375961347,
|
| 67 |
+
-0.026222909102216363
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.11007033857478295,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.13318440119927774,
|
| 73 |
+
0.6589019386616607,
|
| 74 |
+
-0.732116569318799
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9871922731399536,
|
| 80 |
+
"position": [
|
| 81 |
+
0.06976895514526404,
|
| 82 |
+
-0.06852406828693347,
|
| 83 |
+
-0.03253915370441973
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.31623134771743455,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.2297290214581745,
|
| 89 |
+
-0.5947460662723045,
|
| 90 |
+
-0.7024951445200913
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9862078428268433,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.012541270669316873,
|
| 98 |
+
0.10184176445909543,
|
| 99 |
+
-0.027096295962110162
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.07206822028762246,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.028768543794647165,
|
| 105 |
+
0.7105598957296022,
|
| 106 |
+
-0.6993448198801835
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9858511090278625,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.027023360918974504,
|
| 114 |
+
0.10132891119428677,
|
| 115 |
+
-0.0007887006504461169
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.10532993679682277,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.10802856812720074,
|
| 121 |
+
0.7340016489296427,
|
| 122 |
+
-0.6621759677391882
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9855504035949707,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.04437731098732911,
|
| 130 |
+
0.09704301685997052,
|
| 131 |
+
-0.021973714465275407
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.1416002356813957,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.1827169637065525,
|
| 137 |
+
0.6778942283193231,
|
| 138 |
+
-0.6978705464770529
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.985471785068512,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.1011201616784092,
|
| 146 |
+
-0.011602182938077021,
|
| 147 |
+
-0.019892705837264657
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.5276878804772669,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.5299847901193117,
|
| 153 |
+
0.4747619702680611,
|
| 154 |
+
-0.4639641092011181
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9852273464202881,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.039080443646525964,
|
| 162 |
+
0.09481340081401868,
|
| 163 |
+
-0.03855868452228606
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.13178178124687065,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.16040549019826186,
|
| 169 |
+
0.6600979249102641,
|
| 170 |
+
-0.721924075214853
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9848775863647461,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.015923189785098657,
|
| 178 |
+
0.1010488587708096,
|
| 179 |
+
-0.03776993998326361
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.06705441557373785,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.06955026418591284,
|
| 185 |
+
0.6452976014494051,
|
| 186 |
+
-0.7577977775550535
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9846097230911255,
|
| 192 |
+
"position": [
|
| 193 |
+
0.07150945547618903,
|
| 194 |
+
-0.07646454690984683,
|
| 195 |
+
-0.009158367523923516
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.24965730716922144,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.25693212115164565,
|
| 201 |
+
-0.6763561143743114,
|
| 202 |
+
-0.6435833439780841
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9844547510147095,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.0011185715848114341,
|
| 210 |
+
-0.10513509630254703,
|
| 211 |
+
-0.009900052333250642
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6539610753033147,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.7563904768030011,
|
| 217 |
+
-0.006250574830093392,
|
| 218 |
+
-0.01301110695346801
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9844532608985901,
|
| 224 |
+
"position": [
|
| 225 |
+
0.06387874219217338,
|
| 226 |
+
-0.08557704656413989,
|
| 227 |
+
-0.0221202599350363
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.22664156499706842,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.2216885163274559,
|
| 233 |
+
-0.6822371879532858,
|
| 234 |
+
-0.6588172903907451
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9844253063201904,
|
| 240 |
+
"position": [
|
| 241 |
+
0.005566387582803145,
|
| 242 |
+
-0.1054500099926372,
|
| 243 |
+
-0.023450061911717057
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.7327998130530096,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.6803000763512735,
|
| 249 |
+
-0.003257432306277175,
|
| 250 |
+
0.013624582220957486
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9844229817390442,
|
| 256 |
+
"position": [
|
| 257 |
+
0.024190033931517974,
|
| 258 |
+
-0.1037463751345058,
|
| 259 |
+
-0.018185278633609414
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.7257234205063677,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.6786671831857692,
|
| 265 |
+
-0.07770879150483212,
|
| 266 |
+
0.0818395693909123
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9842398166656494,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.09935069349012338,
|
| 274 |
+
-0.013445922239043284,
|
| 275 |
+
-0.012846065917983651
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5249022928005239,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.5417354263874699,
|
| 281 |
+
0.4705103345715337,
|
| 282 |
+
-0.45784313456785886
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9841927886009216,
|
| 288 |
+
"position": [
|
| 289 |
+
0.01824766318895854,
|
| 290 |
+
-0.10014551698259311,
|
| 291 |
+
-0.033191323513165116
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.7686694791901701,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.6345117798796618,
|
| 297 |
+
-0.05221728794707092,
|
| 298 |
+
0.06176882542924589
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.9840756058692932,
|
| 304 |
+
"position": [
|
| 305 |
+
0.06946710977354087,
|
| 306 |
+
-0.07592028199724155,
|
| 307 |
+
-0.021719580749049783
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.6524320127566867,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.661098206094687,
|
| 313 |
+
-0.2565753035343915,
|
| 314 |
+
0.2673027202347188
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9839580059051514,
|
| 320 |
+
"position": [
|
| 321 |
+
0.011433641571784392,
|
| 322 |
+
0.105304362186871,
|
| 323 |
+
-0.020370168844237924
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.06498268362203863,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.001583551408454625,
|
| 329 |
+
-0.7269056393244889,
|
| 330 |
+
0.6836541045824789
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.9839211702346802,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.0151819426973816,
|
| 338 |
+
-0.10135131149581866,
|
| 339 |
+
-0.034435011679306626
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.7424540106055305,
|
| 343 |
+
"xyz": [
|
| 344 |
+
-0.6640745546107778,
|
| 345 |
+
0.04609948225081173,
|
| 346 |
+
-0.07511235444630224
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "cap",
|
| 354 |
+
"mask_color": "Yellow",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp and twist the cap to open or close the tube",
|
| 359 |
+
"confidence": 0.93
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold the cap end to stabilize the tube during placement or reorientation",
|
| 363 |
+
"confidence": 0.62
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"cover the opening",
|
| 368 |
+
"seal the contents",
|
| 369 |
+
"provide a standing base",
|
| 370 |
+
"enable opening and closing"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Round white plastic cap at the bottom end with a smooth hard surface, cylindrical shape, and wider diameter than the tube neck.",
|
| 373 |
+
"id": 3,
|
| 374 |
+
"grasp_group": {}
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"part_name": "neck/shoulder section",
|
| 378 |
+
"mask_color": "Green",
|
| 379 |
+
"graspable": true,
|
| 380 |
+
"grasp_scenarios": [
|
| 381 |
+
{
|
| 382 |
+
"scenario": "grasp the neck and shoulder area to stabilize the tube while manipulating the cap",
|
| 383 |
+
"confidence": 0.74
|
| 384 |
+
},
|
| 385 |
+
{
|
| 386 |
+
"scenario": "pinch the shoulder area for short-range repositioning",
|
| 387 |
+
"confidence": 0.55
|
| 388 |
+
}
|
| 389 |
+
],
|
| 390 |
+
"functional_labels": [
|
| 391 |
+
"connect tube body to cap",
|
| 392 |
+
"support cap attachment",
|
| 393 |
+
"form the dispensing-end transition"
|
| 394 |
+
],
|
| 395 |
+
"semantic_description": "Short white plastic shoulder and neck section above the cap, with a smooth hard surface, rounded collar shape, and narrower diameter than the main tube body.",
|
| 396 |
+
"id": 1,
|
| 397 |
+
"grasp_group": {
|
| 398 |
+
"grasp_20": {
|
| 399 |
+
"confidence": 0.9735597968101501,
|
| 400 |
+
"position": [
|
| 401 |
+
0.0029164204897824675,
|
| 402 |
+
-0.10462461977294879,
|
| 403 |
+
-0.044979252154007554
|
| 404 |
+
],
|
| 405 |
+
"orientation": {
|
| 406 |
+
"w": 0.7259947143478492,
|
| 407 |
+
"xyz": [
|
| 408 |
+
-0.6874693771772807,
|
| 409 |
+
-0.016771253713549816,
|
| 410 |
+
-0.006021231713081317
|
| 411 |
+
]
|
| 412 |
+
}
|
| 413 |
+
},
|
| 414 |
+
"grasp_21": {
|
| 415 |
+
"confidence": 0.9731570482254028,
|
| 416 |
+
"position": [
|
| 417 |
+
-0.005623462930088863,
|
| 418 |
+
-0.10278647213272052,
|
| 419 |
+
-0.047428719932213426
|
| 420 |
+
],
|
| 421 |
+
"orientation": {
|
| 422 |
+
"w": 0.7293401208832736,
|
| 423 |
+
"xyz": [
|
| 424 |
+
-0.6829931447968197,
|
| 425 |
+
0.006703012705558842,
|
| 426 |
+
-0.03922272110896484
|
| 427 |
+
]
|
| 428 |
+
}
|
| 429 |
+
},
|
| 430 |
+
"grasp_22": {
|
| 431 |
+
"confidence": 0.9675970673561096,
|
| 432 |
+
"position": [
|
| 433 |
+
0.06044175583519973,
|
| 434 |
+
-0.08731035708478885,
|
| 435 |
+
-0.05084037431515753
|
| 436 |
+
],
|
| 437 |
+
"orientation": {
|
| 438 |
+
"w": 0.22323892527515113,
|
| 439 |
+
"xyz": [
|
| 440 |
+
0.20417915684031634,
|
| 441 |
+
-0.6538390452082026,
|
| 442 |
+
-0.6935198318110298
|
| 443 |
+
]
|
| 444 |
+
}
|
| 445 |
+
},
|
| 446 |
+
"grasp_23": {
|
| 447 |
+
"confidence": 0.9644548892974854,
|
| 448 |
+
"position": [
|
| 449 |
+
0.10085528824129142,
|
| 450 |
+
-0.002124568745784927,
|
| 451 |
+
-0.05229556211270392
|
| 452 |
+
],
|
| 453 |
+
"orientation": {
|
| 454 |
+
"w": 0.5286868536804977,
|
| 455 |
+
"xyz": [
|
| 456 |
+
0.44848383855681745,
|
| 457 |
+
-0.4845593994961481,
|
| 458 |
+
-0.5334366369670266
|
| 459 |
+
]
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
"grasp_24": {
|
| 463 |
+
"confidence": 0.9626719951629639,
|
| 464 |
+
"position": [
|
| 465 |
+
-0.003172478958731517,
|
| 466 |
+
-0.10577732144884067,
|
| 467 |
+
-0.05527763464488089
|
| 468 |
+
],
|
| 469 |
+
"orientation": {
|
| 470 |
+
"w": 0.7485564160707541,
|
| 471 |
+
"xyz": [
|
| 472 |
+
-0.6623913595332462,
|
| 473 |
+
-0.00030196946963190197,
|
| 474 |
+
-0.030014789511925443
|
| 475 |
+
]
|
| 476 |
+
}
|
| 477 |
+
},
|
| 478 |
+
"grasp_25": {
|
| 479 |
+
"confidence": 0.9625164270401001,
|
| 480 |
+
"position": [
|
| 481 |
+
0.09627353880205192,
|
| 482 |
+
0.02616226107784314,
|
| 483 |
+
-0.05903451540507376
|
| 484 |
+
],
|
| 485 |
+
"orientation": {
|
| 486 |
+
"w": 0.6257991202136279,
|
| 487 |
+
"xyz": [
|
| 488 |
+
0.49524214071575867,
|
| 489 |
+
-0.4138825864397665,
|
| 490 |
+
-0.4379633407501716
|
| 491 |
+
]
|
| 492 |
+
}
|
| 493 |
+
},
|
| 494 |
+
"grasp_26": {
|
| 495 |
+
"confidence": 0.9619961380958557,
|
| 496 |
+
"position": [
|
| 497 |
+
-0.10103786256513558,
|
| 498 |
+
-0.000959761739068199,
|
| 499 |
+
-0.06210713111795485
|
| 500 |
+
],
|
| 501 |
+
"orientation": {
|
| 502 |
+
"w": 0.5497473891066597,
|
| 503 |
+
"xyz": [
|
| 504 |
+
0.4520109439739424,
|
| 505 |
+
0.44937466830235795,
|
| 506 |
+
0.5399317754923694
|
| 507 |
+
]
|
| 508 |
+
}
|
| 509 |
+
},
|
| 510 |
+
"grasp_27": {
|
| 511 |
+
"confidence": 0.9618334174156189,
|
| 512 |
+
"position": [
|
| 513 |
+
-0.10283363875350915,
|
| 514 |
+
-0.009481054796196986,
|
| 515 |
+
-0.061644610250368714
|
| 516 |
+
],
|
| 517 |
+
"orientation": {
|
| 518 |
+
"w": 0.5287952445979178,
|
| 519 |
+
"xyz": [
|
| 520 |
+
0.4353197251492467,
|
| 521 |
+
0.4638467853925722,
|
| 522 |
+
0.5618883215262529
|
| 523 |
+
]
|
| 524 |
+
}
|
| 525 |
+
},
|
| 526 |
+
"grasp_28": {
|
| 527 |
+
"confidence": 0.9618077278137207,
|
| 528 |
+
"position": [
|
| 529 |
+
-0.10044208433828317,
|
| 530 |
+
0.007659031012735795,
|
| 531 |
+
-0.05631773197092116
|
| 532 |
+
],
|
| 533 |
+
"orientation": {
|
| 534 |
+
"w": 0.5091438883918727,
|
| 535 |
+
"xyz": [
|
| 536 |
+
-0.447516629575444,
|
| 537 |
+
0.47938940482992554,
|
| 538 |
+
-0.5573931877081462
|
| 539 |
+
]
|
| 540 |
+
}
|
| 541 |
+
},
|
| 542 |
+
"grasp_29": {
|
| 543 |
+
"confidence": 0.9617318511009216,
|
| 544 |
+
"position": [
|
| 545 |
+
0.10319532189168967,
|
| 546 |
+
0.006552015831402969,
|
| 547 |
+
-0.0470671767834574
|
| 548 |
+
],
|
| 549 |
+
"orientation": {
|
| 550 |
+
"w": 0.5352836044905898,
|
| 551 |
+
"xyz": [
|
| 552 |
+
0.48490784334302084,
|
| 553 |
+
-0.48504610442678964,
|
| 554 |
+
-0.49301736562557147
|
| 555 |
+
]
|
| 556 |
+
}
|
| 557 |
+
},
|
| 558 |
+
"grasp_30": {
|
| 559 |
+
"confidence": 0.9614728093147278,
|
| 560 |
+
"position": [
|
| 561 |
+
0.09208120885887183,
|
| 562 |
+
-0.03777089907816844,
|
| 563 |
+
-0.052233666414394975
|
| 564 |
+
],
|
| 565 |
+
"orientation": {
|
| 566 |
+
"w": 0.6166575148634512,
|
| 567 |
+
"xyz": [
|
| 568 |
+
-0.5429500893772798,
|
| 569 |
+
-0.37698164653082555,
|
| 570 |
+
0.42757870385058167
|
| 571 |
+
]
|
| 572 |
+
}
|
| 573 |
+
},
|
| 574 |
+
"grasp_31": {
|
| 575 |
+
"confidence": 0.9612897038459778,
|
| 576 |
+
"position": [
|
| 577 |
+
-0.09663685676059686,
|
| 578 |
+
0.03340895281144185,
|
| 579 |
+
-0.04741674312390387
|
| 580 |
+
],
|
| 581 |
+
"orientation": {
|
| 582 |
+
"w": 0.42439750016936706,
|
| 583 |
+
"xyz": [
|
| 584 |
+
-0.3937373405006665,
|
| 585 |
+
0.5524864090861099,
|
| 586 |
+
-0.5996802784155825
|
| 587 |
+
]
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"grasp_32": {
|
| 591 |
+
"confidence": 0.9597960710525513,
|
| 592 |
+
"position": [
|
| 593 |
+
0.09585029367008246,
|
| 594 |
+
-0.03028070001892047,
|
| 595 |
+
-0.060566030675545335
|
| 596 |
+
],
|
| 597 |
+
"orientation": {
|
| 598 |
+
"w": 0.4625544503997015,
|
| 599 |
+
"xyz": [
|
| 600 |
+
0.36149403324474777,
|
| 601 |
+
-0.5307399110017581,
|
| 602 |
+
-0.6112941936692355
|
| 603 |
+
]
|
| 604 |
+
}
|
| 605 |
+
},
|
| 606 |
+
"grasp_33": {
|
| 607 |
+
"confidence": 0.9597956538200378,
|
| 608 |
+
"position": [
|
| 609 |
+
0.10206447276868857,
|
| 610 |
+
-0.006123763574578334,
|
| 611 |
+
-0.05265592806972563
|
| 612 |
+
],
|
| 613 |
+
"orientation": {
|
| 614 |
+
"w": 0.5384568591851956,
|
| 615 |
+
"xyz": [
|
| 616 |
+
-0.4853106911139153,
|
| 617 |
+
-0.47157281548286467,
|
| 618 |
+
0.5021521916555898
|
| 619 |
+
]
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
"grasp_34": {
|
| 623 |
+
"confidence": 0.9597169756889343,
|
| 624 |
+
"position": [
|
| 625 |
+
-0.06190178808174096,
|
| 626 |
+
0.0845313462705235,
|
| 627 |
+
-0.040805172407999635
|
| 628 |
+
],
|
| 629 |
+
"orientation": {
|
| 630 |
+
"w": 0.2620827207933534,
|
| 631 |
+
"xyz": [
|
| 632 |
+
-0.20896587867994532,
|
| 633 |
+
0.6710416963272372,
|
| 634 |
+
-0.661323635445865
|
| 635 |
+
]
|
| 636 |
+
}
|
| 637 |
+
},
|
| 638 |
+
"grasp_35": {
|
| 639 |
+
"confidence": 0.95912766456604,
|
| 640 |
+
"position": [
|
| 641 |
+
0.10151571515598334,
|
| 642 |
+
-0.008477337723888922,
|
| 643 |
+
-0.05269783386029303
|
| 644 |
+
],
|
| 645 |
+
"orientation": {
|
| 646 |
+
"w": 0.5127373423735329,
|
| 647 |
+
"xyz": [
|
| 648 |
+
0.4295496635610361,
|
| 649 |
+
-0.506345387099721,
|
| 650 |
+
-0.5442442955448966
|
| 651 |
+
]
|
| 652 |
+
}
|
| 653 |
+
},
|
| 654 |
+
"grasp_36": {
|
| 655 |
+
"confidence": 0.9589943289756775,
|
| 656 |
+
"position": [
|
| 657 |
+
0.09606619659462012,
|
| 658 |
+
-0.028256746074475814,
|
| 659 |
+
-0.06230588280595839
|
| 660 |
+
],
|
| 661 |
+
"orientation": {
|
| 662 |
+
"w": 0.48953576210218896,
|
| 663 |
+
"xyz": [
|
| 664 |
+
0.34431189716763205,
|
| 665 |
+
-0.52823222973626,
|
| 666 |
+
-0.6023078669249753
|
| 667 |
+
]
|
| 668 |
+
}
|
| 669 |
+
},
|
| 670 |
+
"grasp_37": {
|
| 671 |
+
"confidence": 0.9573985934257507,
|
| 672 |
+
"position": [
|
| 673 |
+
0.10346851978101768,
|
| 674 |
+
-0.010329183256544638,
|
| 675 |
+
-0.05230268114246428
|
| 676 |
+
],
|
| 677 |
+
"orientation": {
|
| 678 |
+
"w": 0.5462157889105389,
|
| 679 |
+
"xyz": [
|
| 680 |
+
-0.5054738237113449,
|
| 681 |
+
-0.4568850095901704,
|
| 682 |
+
0.4872377381723007
|
| 683 |
+
]
|
| 684 |
+
}
|
| 685 |
+
},
|
| 686 |
+
"grasp_38": {
|
| 687 |
+
"confidence": 0.9572886824607849,
|
| 688 |
+
"position": [
|
| 689 |
+
0.09884544942178763,
|
| 690 |
+
0.016927657583437394,
|
| 691 |
+
-0.05604086839593947
|
| 692 |
+
],
|
| 693 |
+
"orientation": {
|
| 694 |
+
"w": 0.4792307035690605,
|
| 695 |
+
"xyz": [
|
| 696 |
+
-0.4249702094690646,
|
| 697 |
+
-0.5169128783384271,
|
| 698 |
+
0.5679254616834903
|
| 699 |
+
]
|
| 700 |
+
}
|
| 701 |
+
},
|
| 702 |
+
"grasp_39": {
|
| 703 |
+
"confidence": 0.9571866989135742,
|
| 704 |
+
"position": [
|
| 705 |
+
-0.09979430850944482,
|
| 706 |
+
-0.005675654923834372,
|
| 707 |
+
-0.06506400951184332
|
| 708 |
+
],
|
| 709 |
+
"orientation": {
|
| 710 |
+
"w": 0.5525122885769794,
|
| 711 |
+
"xyz": [
|
| 712 |
+
-0.4728781642169393,
|
| 713 |
+
0.4192020791209661,
|
| 714 |
+
-0.5434942774665671
|
| 715 |
+
]
|
| 716 |
+
}
|
| 717 |
+
}
|
| 718 |
+
}
|
| 719 |
+
},
|
| 720 |
+
{
|
| 721 |
+
"part_name": "neck ring detail",
|
| 722 |
+
"mask_color": "Cyan",
|
| 723 |
+
"graspable": false,
|
| 724 |
+
"grasp_scenarios": [],
|
| 725 |
+
"functional_labels": [
|
| 726 |
+
"small neck transition detail",
|
| 727 |
+
"visual boundary between shoulder and cap",
|
| 728 |
+
"structural molding detail"
|
| 729 |
+
],
|
| 730 |
+
"semantic_description": "Small light-colored ring-like strip at the junction between the neck/shoulder section and the cap, visible as a narrow smooth band around the dispensing end.",
|
| 731 |
+
"id": 6,
|
| 732 |
+
"grasp_group": {}
|
| 733 |
+
},
|
| 734 |
+
{
|
| 735 |
+
"part_name": "cap front dimple",
|
| 736 |
+
"mask_color": "Orange",
|
| 737 |
+
"graspable": false,
|
| 738 |
+
"grasp_scenarios": [],
|
| 739 |
+
"functional_labels": [
|
| 740 |
+
"small molded cap detail",
|
| 741 |
+
"surface feature on cap front",
|
| 742 |
+
"possible molding or design marker"
|
| 743 |
+
],
|
| 744 |
+
"semantic_description": "Tiny circular light-colored molded detail on the front face of the cap area, smooth and slightly raised or recessed depending on view, centered above the cap face in the front view.",
|
| 745 |
+
"id": 4,
|
| 746 |
+
"grasp_group": {}
|
| 747 |
+
},
|
| 748 |
+
{
|
| 749 |
+
"part_name": "top crimp seam",
|
| 750 |
+
"mask_color": "Magenta",
|
| 751 |
+
"graspable": false,
|
| 752 |
+
"grasp_scenarios": [],
|
| 753 |
+
"functional_labels": [
|
| 754 |
+
"seal the filled tube",
|
| 755 |
+
"close the manufacturing end",
|
| 756 |
+
"form the top edge of the tube"
|
| 757 |
+
],
|
| 758 |
+
"semantic_description": "Thin sealed edge strip along the slanted top of the tube, corresponding to the crimped top seam of the real tube.",
|
| 759 |
+
"id": 7,
|
| 760 |
+
"grasp_group": {}
|
| 761 |
+
},
|
| 762 |
+
{
|
| 763 |
+
"part_name": "front logo patch",
|
| 764 |
+
"mask_color": "Blue",
|
| 765 |
+
"graspable": false,
|
| 766 |
+
"grasp_scenarios": [],
|
| 767 |
+
"functional_labels": [
|
| 768 |
+
"display branding",
|
| 769 |
+
"provide visual identification",
|
| 770 |
+
"printed decorative label area"
|
| 771 |
+
],
|
| 772 |
+
"semantic_description": "Small dark printed logo patch on the upper front blue section of the tube, appearing as a flat printed decorative area with portrait-style artwork.",
|
| 773 |
+
"id": 2,
|
| 774 |
+
"grasp_group": {}
|
| 775 |
+
}
|
| 776 |
+
],
|
| 777 |
+
"quality_check": {
|
| 778 |
+
"success": false,
|
| 779 |
+
"message": "Body color/identity and logo patch description are incorrect; red mask covers full tube, not only blue upper portion."
|
| 780 |
+
}
|
| 781 |
+
}
|
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:35890dd9e6661bb2ae1abc9a79394e416d2ebd6289a4e556f079f8704ffd294b
|
| 3 |
+
size 3785928
|