Add asset bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/affordance_annot.json +639 -0
- dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.urdf +1 -1
.gitattributes
CHANGED
|
@@ -5608,3 +5608,4 @@ dataset/bathroom_supplies/bath_products/57ef25116edc52a58c710ea7977a1a08/afforda
|
|
| 5608 |
dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5609 |
dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5610 |
dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5608 |
dataset/bathroom_supplies/bath_products/598477e380675277bdb7b2446c85490e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5609 |
dataset/bathroom_supplies/bath_products/5c616635e2b75bb8806e333fcb4941b1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5610 |
dataset/bathroom_supplies/bath_products/60463db9e47c510f8be3d2ada4de2413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5611 |
+
dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,639 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 to pick up and move the facial cleanser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while positioning the pump over a sink or palm",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body while another tool or finger presses the pump",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the cleanser",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide standing stability",
|
| 26 |
+
"carry product label information"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white plastic bottle body with a mostly matte smooth hard surface, rounded rectangular shape with gently curved sides, broad front label graphics, and the main lower portion of the dispenser.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9898934960365295,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0016858692688401788,
|
| 35 |
+
0.11495941184693947,
|
| 36 |
+
-0.02711415267549455
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.018100898481001455,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.00153700557013796,
|
| 42 |
+
-0.7056118842760177,
|
| 43 |
+
0.7083656286526795
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9898887276649475,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0014179627469275147,
|
| 51 |
+
0.11191356234485283,
|
| 52 |
+
-0.030049737310037017
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7218890020458374,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.6915926451111538,
|
| 58 |
+
-0.016894353572845078,
|
| 59 |
+
0.01704296836759109
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9898017048835754,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0022711636556778103,
|
| 67 |
+
0.11157204263145104,
|
| 68 |
+
-0.027304639806970954
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.701314714316461,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.712679688043393,
|
| 74 |
+
-0.0021044845071527263,
|
| 75 |
+
0.015521110738324847
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9897280335426331,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.000847599032567814,
|
| 83 |
+
0.11263478599721566,
|
| 84 |
+
-0.033374873688444495
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7075479424978013,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.7066165280359004,
|
| 90 |
+
0.007208706548839872,
|
| 91 |
+
-0.004126248115468144
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9897043108940125,
|
| 97 |
+
"position": [
|
| 98 |
+
0.0018663537630345672,
|
| 99 |
+
0.11077268474036828,
|
| 100 |
+
-0.03163231327198446
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.027529413290863017,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.005143045368866418,
|
| 106 |
+
-0.7066333621119087,
|
| 107 |
+
0.7070254394564698
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.989593505859375,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.0037770212220493704,
|
| 115 |
+
0.11388718389207497,
|
| 116 |
+
-0.024263458093628287
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6989612579337472,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.7148109320637868,
|
| 122 |
+
0.013672865313168248,
|
| 123 |
+
0.017650610864845782
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9894166588783264,
|
| 129 |
+
"position": [
|
| 130 |
+
0.002750380983343348,
|
| 131 |
+
0.11001132481032982,
|
| 132 |
+
-0.03501832648180425
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.018096727308006717,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.002342396348404745,
|
| 138 |
+
-0.703166156649607,
|
| 139 |
+
0.710791374302409
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9893152713775635,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.0008423868857789785,
|
| 147 |
+
0.11263602279359475,
|
| 148 |
+
-0.03704585297964513
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7099413524444407,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.7042591467411975,
|
| 154 |
+
0.0015138666134724144,
|
| 155 |
+
0.00019628702209768033
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.9889020919799805,
|
| 161 |
+
"position": [
|
| 162 |
+
0.0007943127711769193,
|
| 163 |
+
0.11148650996619835,
|
| 164 |
+
-0.021896172082051635
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7105797161189933,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.7035937830011308,
|
| 170 |
+
-0.005664602368283034,
|
| 171 |
+
0.0004096857546313898
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_10": {
|
| 176 |
+
"confidence": 0.9888547658920288,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.0021154583955649287,
|
| 179 |
+
0.11010110430652276,
|
| 180 |
+
-0.039491152158007026
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.724064016979559,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.6897303116678895,
|
| 186 |
+
-0.001308696456915337,
|
| 187 |
+
0.0012976114690177122
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_11": {
|
| 192 |
+
"confidence": 0.9888522624969482,
|
| 193 |
+
"position": [
|
| 194 |
+
0.008630060212453827,
|
| 195 |
+
0.10999314539367333,
|
| 196 |
+
-0.027311855694279075
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.03262782531162686,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.013514857029986591,
|
| 202 |
+
-0.7013071835133173,
|
| 203 |
+
0.7119838537547826
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_12": {
|
| 208 |
+
"confidence": 0.9887365698814392,
|
| 209 |
+
"position": [
|
| 210 |
+
0.0023003302922006696,
|
| 211 |
+
0.11380250804359093,
|
| 212 |
+
-0.021141245728358626
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.7019700345354395,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.7121897702281957,
|
| 218 |
+
0.0003142319799889215,
|
| 219 |
+
-0.004868578322913624
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_13": {
|
| 224 |
+
"confidence": 0.9887357354164124,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.0119906751497183,
|
| 227 |
+
0.11424211465055123,
|
| 228 |
+
-0.016095763770863414
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.696674471875752,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.7153960644528465,
|
| 234 |
+
0.0456032275532553,
|
| 235 |
+
0.027811811137474548
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_14": {
|
| 240 |
+
"confidence": 0.9886237382888794,
|
| 241 |
+
"position": [
|
| 242 |
+
0.005202296277275309,
|
| 243 |
+
0.11287342064315453,
|
| 244 |
+
-0.025093368953093886
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.7116948594950926,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.7023301627509745,
|
| 250 |
+
-0.014924484381157455,
|
| 251 |
+
-0.0001709514758575756
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9884355068206787,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.0006536096916534007,
|
| 259 |
+
0.11593626491958275,
|
| 260 |
+
-0.026600813260301948
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.7018478646969228,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.7122992158566607,
|
| 266 |
+
0.00624696997460783,
|
| 267 |
+
-0.0006142283713305881
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_18": {
|
| 272 |
+
"confidence": 0.9883881211280823,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.0014478434168267995,
|
| 275 |
+
0.08086672477656975,
|
| 276 |
+
-0.11051196022890508
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.03766046508841241,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.020367676901263322,
|
| 282 |
+
-0.42381284862074975,
|
| 283 |
+
0.9047372637682919
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "pump dispenser",
|
| 291 |
+
"mask_color": "Green",
|
| 292 |
+
"graspable": true,
|
| 293 |
+
"grasp_scenarios": [
|
| 294 |
+
{
|
| 295 |
+
"scenario": "grasp the pump head to rotate or align the nozzle for dispensing or closing",
|
| 296 |
+
"confidence": 0.61
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"scenario": "grasp the pump assembly to manipulate the bottle in a careful light-duty pickup",
|
| 300 |
+
"confidence": 0.33
|
| 301 |
+
}
|
| 302 |
+
],
|
| 303 |
+
"functional_labels": [
|
| 304 |
+
"dispense cleanser",
|
| 305 |
+
"press to pump liquid",
|
| 306 |
+
"direct product flow",
|
| 307 |
+
"serve as closure at the bottle opening"
|
| 308 |
+
],
|
| 309 |
+
"semantic_description": "Small black plastic pump and nozzle with a smooth slightly matte hard finish, curved spout shape, and compact top-mounted position above the bottle neck.",
|
| 310 |
+
"id": 1,
|
| 311 |
+
"grasp_group": {
|
| 312 |
+
"grasp_20": {
|
| 313 |
+
"confidence": 0.9774286150932312,
|
| 314 |
+
"position": [
|
| 315 |
+
-5.6599266827106476e-05,
|
| 316 |
+
0.054241080360952765,
|
| 317 |
+
0.1278601347003132
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.26888752104969704,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.9625685637814684,
|
| 323 |
+
0.03395578798288501,
|
| 324 |
+
0.0028749792854412906
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_21": {
|
| 329 |
+
"confidence": 0.977264404296875,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.0077274203358683735,
|
| 332 |
+
0.04886157118016854,
|
| 333 |
+
0.1300744025502354
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.2532970441724138,
|
| 337 |
+
"xyz": [
|
| 338 |
+
0.9647343606712533,
|
| 339 |
+
0.06844192205279753,
|
| 340 |
+
0.021069505439503415
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_22": {
|
| 345 |
+
"confidence": 0.9749564528465271,
|
| 346 |
+
"position": [
|
| 347 |
+
0.004018620209535584,
|
| 348 |
+
-0.005587025487329811,
|
| 349 |
+
0.1440473257098347
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.018286716562545446,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.012480274372816458,
|
| 355 |
+
-0.9997545553779599,
|
| 356 |
+
-0.0008171596896404586
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_23": {
|
| 361 |
+
"confidence": 0.9745057821273804,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.0030052581860218197,
|
| 364 |
+
0.056278758274856955,
|
| 365 |
+
0.1307992993388325
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.26768703104054586,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.9624881672614995,
|
| 371 |
+
0.0432371327754823,
|
| 372 |
+
0.00952531593453087
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_24": {
|
| 377 |
+
"confidence": 0.9744153022766113,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.012020132882753387,
|
| 380 |
+
0.08733752422267571,
|
| 381 |
+
0.08856944576837122
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.048267514470783826,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.005995470027424391,
|
| 387 |
+
0.8782009306288793,
|
| 388 |
+
-0.4758123861655275
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_25": {
|
| 393 |
+
"confidence": 0.9736006259918213,
|
| 394 |
+
"position": [
|
| 395 |
+
0.00018960461602546275,
|
| 396 |
+
-0.0017679600859992206,
|
| 397 |
+
0.145088559249416
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.021492806025053483,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.9996453627161881,
|
| 403 |
+
0.01562639706179647,
|
| 404 |
+
0.0017389088697389438
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_26": {
|
| 409 |
+
"confidence": 0.9728813171386719,
|
| 410 |
+
"position": [
|
| 411 |
+
0.0009332239569630474,
|
| 412 |
+
0.09061973594361916,
|
| 413 |
+
0.08190107182599604
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.5087792877123757,
|
| 417 |
+
"xyz": [
|
| 418 |
+
0.8605017230513451,
|
| 419 |
+
0.025417358416611857,
|
| 420 |
+
-0.005863353279069622
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_27": {
|
| 425 |
+
"confidence": 0.9725944995880127,
|
| 426 |
+
"position": [
|
| 427 |
+
0.0006686754932161421,
|
| 428 |
+
0.09106823854381219,
|
| 429 |
+
0.08007165626622736
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.5142088759839405,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.8576392998352317,
|
| 435 |
+
0.004836433076289781,
|
| 436 |
+
0.004546663893985795
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_28": {
|
| 441 |
+
"confidence": 0.971842348575592,
|
| 442 |
+
"position": [
|
| 443 |
+
0.0024334763584192842,
|
| 444 |
+
0.01649358175927773,
|
| 445 |
+
0.14230606541968882
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.060364319763297355,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.9975618971385832,
|
| 451 |
+
0.03475050451480924,
|
| 452 |
+
-0.004337362418676485
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_29": {
|
| 457 |
+
"confidence": 0.9717417359352112,
|
| 458 |
+
"position": [
|
| 459 |
+
0.0024754506011959165,
|
| 460 |
+
0.0030473059159703553,
|
| 461 |
+
0.1428108720574528
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.017052613877990005,
|
| 465 |
+
"xyz": [
|
| 466 |
+
0.9920058472107407,
|
| 467 |
+
0.12477180667147195,
|
| 468 |
+
-0.008099612309586592
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"grasp_30": {
|
| 473 |
+
"confidence": 0.9714435935020447,
|
| 474 |
+
"position": [
|
| 475 |
+
-0.01999998596147634,
|
| 476 |
+
0.05197644286090508,
|
| 477 |
+
0.12496714876033366
|
| 478 |
+
],
|
| 479 |
+
"orientation": {
|
| 480 |
+
"w": 0.2644682488154153,
|
| 481 |
+
"xyz": [
|
| 482 |
+
0.957945927690358,
|
| 483 |
+
0.0741294898846297,
|
| 484 |
+
0.08307203933581664
|
| 485 |
+
]
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"grasp_31": {
|
| 489 |
+
"confidence": 0.9712064266204834,
|
| 490 |
+
"position": [
|
| 491 |
+
0.009457056963583454,
|
| 492 |
+
0.05462387629086152,
|
| 493 |
+
0.12448059604503214
|
| 494 |
+
],
|
| 495 |
+
"orientation": {
|
| 496 |
+
"w": 0.2700106272225736,
|
| 497 |
+
"xyz": [
|
| 498 |
+
0.9625851461265882,
|
| 499 |
+
0.010451369146986356,
|
| 500 |
+
-0.02036827254041491
|
| 501 |
+
]
|
| 502 |
+
}
|
| 503 |
+
},
|
| 504 |
+
"grasp_32": {
|
| 505 |
+
"confidence": 0.9710721969604492,
|
| 506 |
+
"position": [
|
| 507 |
+
0.0013828602095600218,
|
| 508 |
+
0.048197076248470694,
|
| 509 |
+
0.13110532448627055
|
| 510 |
+
],
|
| 511 |
+
"orientation": {
|
| 512 |
+
"w": 0.0054431131103488935,
|
| 513 |
+
"xyz": [
|
| 514 |
+
0.0016196135693781703,
|
| 515 |
+
0.9697074345580199,
|
| 516 |
+
-0.24420327748508455
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_33": {
|
| 521 |
+
"confidence": 0.9707674384117126,
|
| 522 |
+
"position": [
|
| 523 |
+
0.0024832345952745527,
|
| 524 |
+
0.05173378117615357,
|
| 525 |
+
0.12359549687243998
|
| 526 |
+
],
|
| 527 |
+
"orientation": {
|
| 528 |
+
"w": 0.27198970296449676,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.9618829604206786,
|
| 531 |
+
0.028327677801199158,
|
| 532 |
+
-0.0005608957369425846
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_34": {
|
| 537 |
+
"confidence": 0.970592737197876,
|
| 538 |
+
"position": [
|
| 539 |
+
0.0003000689612235874,
|
| 540 |
+
0.007937671209219843,
|
| 541 |
+
0.14225295768119395
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.017887311182008866,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.9996024919501788,
|
| 547 |
+
0.02148072041178481,
|
| 548 |
+
-0.003671625833499331
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_35": {
|
| 553 |
+
"confidence": 0.9704299569129944,
|
| 554 |
+
"position": [
|
| 555 |
+
0.009284091735025868,
|
| 556 |
+
0.05596784927183762,
|
| 557 |
+
0.12004788056947291
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.2823777033980691,
|
| 561 |
+
"xyz": [
|
| 562 |
+
0.9590728349020351,
|
| 563 |
+
-0.007642391450299935,
|
| 564 |
+
-0.01958887004209914
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"grasp_36": {
|
| 569 |
+
"confidence": 0.9703219532966614,
|
| 570 |
+
"position": [
|
| 571 |
+
0.024165299342712387,
|
| 572 |
+
0.05340807937318459,
|
| 573 |
+
0.12586263404227793
|
| 574 |
+
],
|
| 575 |
+
"orientation": {
|
| 576 |
+
"w": 0.08992258944248496,
|
| 577 |
+
"xyz": [
|
| 578 |
+
-0.09700366920471598,
|
| 579 |
+
-0.9523556881585146,
|
| 580 |
+
0.2748142268895526
|
| 581 |
+
]
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"grasp_37": {
|
| 585 |
+
"confidence": 0.9699499011039734,
|
| 586 |
+
"position": [
|
| 587 |
+
0.006988938053837046,
|
| 588 |
+
0.005800027458462864,
|
| 589 |
+
0.14446752355434
|
| 590 |
+
],
|
| 591 |
+
"orientation": {
|
| 592 |
+
"w": 0.043282761208754905,
|
| 593 |
+
"xyz": [
|
| 594 |
+
0.9930870774502852,
|
| 595 |
+
-0.10671228583308119,
|
| 596 |
+
-0.02274087148012907
|
| 597 |
+
]
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"grasp_38": {
|
| 601 |
+
"confidence": 0.9695674180984497,
|
| 602 |
+
"position": [
|
| 603 |
+
0.00654025244875811,
|
| 604 |
+
-0.00911653827643022,
|
| 605 |
+
0.14518158719874918
|
| 606 |
+
],
|
| 607 |
+
"orientation": {
|
| 608 |
+
"w": 0.018505666873765703,
|
| 609 |
+
"xyz": [
|
| 610 |
+
-0.043536800051392044,
|
| 611 |
+
-0.998850765433965,
|
| 612 |
+
-0.007696474961035479
|
| 613 |
+
]
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"grasp_39": {
|
| 617 |
+
"confidence": 0.9690970778465271,
|
| 618 |
+
"position": [
|
| 619 |
+
0.0059851604455616325,
|
| 620 |
+
0.09107091330224648,
|
| 621 |
+
0.0801674930844456
|
| 622 |
+
],
|
| 623 |
+
"orientation": {
|
| 624 |
+
"w": 0.017260367678821872,
|
| 625 |
+
"xyz": [
|
| 626 |
+
-0.009679917422235984,
|
| 627 |
+
-0.857499691734134,
|
| 628 |
+
0.5141037420425528
|
| 629 |
+
]
|
| 630 |
+
}
|
| 631 |
+
}
|
| 632 |
+
}
|
| 633 |
+
}
|
| 634 |
+
],
|
| 635 |
+
"quality_check": {
|
| 636 |
+
"success": true,
|
| 637 |
+
"message": "YES"
|
| 638 |
+
}
|
| 639 |
+
}
|
dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8b5694e602d78e089cc7a5af23ae5b6f8819049d42bda93a4b37692dbb705372
|
| 3 |
+
size 3779244
|
dataset/bathroom_supplies/bath_products/612919db3a675bf4b7155a3a989af983/facial_cleanser_006.urdf
CHANGED
|
@@ -57,7 +57,7 @@
|
|
| 57 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
-
<PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|
|
|
|
| 57 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|