Add asset bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/affordance/affordance_annot.json +306 -0
- dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.urdf +1 -0
.gitattributes
CHANGED
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@@ -5559,4 +5559,4 @@ dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/afforda
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5561 |
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5562 |
-
dataset/bathroom_supplies/bath_products/
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5561 |
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5562 |
+
dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,306 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to remove or open the soap dish",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while placing it back onto the base",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the lid from the sides to reposition the dish",
|
| 18 |
+
"confidence": 0.42
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the soap compartment",
|
| 23 |
+
"protect soap from splashes",
|
| 24 |
+
"help retain soap inside",
|
| 25 |
+
"provide top closure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded-rectangular pale pink plastic top with a smooth matte finish and hard surface, forming the upper cover of the soap dish.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_35": {
|
| 31 |
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"confidence": 0.09990392625331879,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.24091521483513864,
|
| 39 |
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"xyz": [
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| 40 |
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|
| 41 |
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-0.07093076593075914,
|
| 42 |
+
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_36": {
|
| 47 |
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"confidence": 0.0969574823975563,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.03469982419682777,
|
| 55 |
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"xyz": [
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| 56 |
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| 57 |
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|
| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_37": {
|
| 63 |
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"confidence": 0.09436217695474625,
|
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"position": [
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],
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"orientation": {
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}
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| 77 |
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},
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| 78 |
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"grasp_38": {
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"confidence": 0.08987452834844589,
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"position": [
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],
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"orientation": {
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"xyz": [
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_39": {
|
| 95 |
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"confidence": 0.0853666365146637,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
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|
| 100 |
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],
|
| 101 |
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"orientation": {
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| 102 |
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"w": 0.07996186031837973,
|
| 103 |
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"xyz": [
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|
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| 107 |
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]
|
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}
|
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},
|
| 110 |
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"grasp_40": {
|
| 111 |
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"confidence": 0.08109308779239655,
|
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"position": [
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|
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|
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],
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"orientation": {
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| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
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"grasp_41": {
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"confidence": 0.08018992841243744,
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],
|
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"orientation": {
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]
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}
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},
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"confidence": 0.07553882151842117,
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"position": [
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|
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],
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"orientation": {
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|
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|
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]
|
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}
|
| 157 |
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},
|
| 158 |
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"grasp_44": {
|
| 159 |
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"confidence": 0.06965567916631699,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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],
|
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"orientation": {
|
| 166 |
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"w": 0.27870154969836186,
|
| 167 |
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"xyz": [
|
| 168 |
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-0.9579680620075584,
|
| 169 |
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0.0630064182541839,
|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_45": {
|
| 175 |
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"confidence": 0.06779344379901886,
|
| 176 |
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"position": [
|
| 177 |
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0.012252338834514376,
|
| 178 |
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-0.03808751080237016,
|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.043916472244747165,
|
| 183 |
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"xyz": [
|
| 184 |
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|
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|
| 186 |
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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}
|
| 190 |
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}
|
| 191 |
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},
|
| 192 |
+
{
|
| 193 |
+
"part_name": "lid knob",
|
| 194 |
+
"mask_color": "Cyan",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "pinch the knob to lift and remove the lid",
|
| 199 |
+
"confidence": 0.95
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"scenario": "hold the knob to align the lid during closing",
|
| 203 |
+
"confidence": 0.86
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"functional_labels": [
|
| 207 |
+
"provide a lifting grip",
|
| 208 |
+
"assist opening the lid",
|
| 209 |
+
"assist closing alignment",
|
| 210 |
+
"indicate the lid center"
|
| 211 |
+
],
|
| 212 |
+
"semantic_description": "Small round pale pink plastic knob with a smooth matte finish and hard surface, centered on top of the lid and slightly raised for gripping.",
|
| 213 |
+
"id": 6,
|
| 214 |
+
"grasp_group": {}
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"part_name": "base of soap dish",
|
| 218 |
+
"mask_color": "Blue",
|
| 219 |
+
"graspable": true,
|
| 220 |
+
"grasp_scenarios": [
|
| 221 |
+
{
|
| 222 |
+
"scenario": "grasp the base from the sides to pick up the whole soap dish",
|
| 223 |
+
"confidence": 0.87
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"scenario": "hold the base steady while removing the lid",
|
| 227 |
+
"confidence": 0.84
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the base to reposition the dish on a sink or counter",
|
| 231 |
+
"confidence": 0.81
|
| 232 |
+
}
|
| 233 |
+
],
|
| 234 |
+
"functional_labels": [
|
| 235 |
+
"support the soap",
|
| 236 |
+
"contain the soap under the lid",
|
| 237 |
+
"provide the main structure",
|
| 238 |
+
"stabilize the dish on a surface"
|
| 239 |
+
],
|
| 240 |
+
"semantic_description": "Medium-sized rounded pale pink plastic lower body with a smooth matte finish and hard surface, forming the bottom container and sidewalls of the soap dish.",
|
| 241 |
+
"id": 2,
|
| 242 |
+
"grasp_group": {}
|
| 243 |
+
},
|
| 244 |
+
{
|
| 245 |
+
"part_name": "front latch tab",
|
| 246 |
+
"mask_color": "Red",
|
| 247 |
+
"graspable": true,
|
| 248 |
+
"grasp_scenarios": [
|
| 249 |
+
{
|
| 250 |
+
"scenario": "pinch or pull the latch tab to release or open the soap dish",
|
| 251 |
+
"confidence": 0.69
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"scenario": "use the tab to help separate lid and base during opening",
|
| 255 |
+
"confidence": 0.63
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"functional_labels": [
|
| 259 |
+
"assist opening",
|
| 260 |
+
"provide a pull point",
|
| 261 |
+
"help release the lid",
|
| 262 |
+
"indicate the front side"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "Small protruding pale pink plastic tab with a smooth matte finish and hard surface, located at the front edge as a subtle latch or pull feature.",
|
| 265 |
+
"id": 0,
|
| 266 |
+
"grasp_group": {
|
| 267 |
+
"grasp_1": {
|
| 268 |
+
"confidence": 0.8520013093948364,
|
| 269 |
+
"position": [
|
| 270 |
+
0.13687360253970837,
|
| 271 |
+
0.005364776290434747,
|
| 272 |
+
0.0002767386322375387
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.02032278798515624,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.7087111297029335,
|
| 278 |
+
0.045280360892780536,
|
| 279 |
+
-0.7037508137410013
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_2": {
|
| 284 |
+
"confidence": 0.8369157314300537,
|
| 285 |
+
"position": [
|
| 286 |
+
0.1267852630917332,
|
| 287 |
+
0.040967582426446825,
|
| 288 |
+
-0.0006542790215462446
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.17308267229858135,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.6823306478620674,
|
| 294 |
+
0.2055361355421833,
|
| 295 |
+
-0.6798692319295667
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"quality_check": {
|
| 303 |
+
"success": true,
|
| 304 |
+
"message": "YES"
|
| 305 |
+
}
|
| 306 |
+
}
|
dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:981dc82b4a276c8f9406f848823acd10bccbad8d36692e4f50bfb38985e2b094
|
| 3 |
+
size 3781948
|
dataset/bathroom_supplies/bath_products/1b72dde62ba4506599ae434e3a51a83f/soap_dish_022.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|