Add asset bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/affordance_annot.json +457 -0
- dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5746,3 +5746,4 @@ dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/afforda
|
|
| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5747 |
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5748 |
dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5747 |
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5748 |
dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5749 |
+
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,457 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the toothbrush",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the brush head toward a target surface",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the toothbrush by clamping the handle during storage or handoff",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support manipulation",
|
| 24 |
+
"provide reach",
|
| 25 |
+
"house the internal body",
|
| 26 |
+
"stabilize the toothbrush during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long cylindrical white plastic handle with a mostly matte smooth hard surface, rounded ends, small printed dots/icons, and the largest section of the toothbrush forming the rear body.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9901493787765503,
|
| 33 |
+
"position": [
|
| 34 |
+
0.007289721645065583,
|
| 35 |
+
-0.013704582466743886,
|
| 36 |
+
0.09694967715768144
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.02670312304631609,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.9984662331285388,
|
| 42 |
+
-0.01646783986620852,
|
| 43 |
+
0.04561726396684113
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9899035692214966,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.00042950712668243796,
|
| 51 |
+
-0.01702538039535284,
|
| 52 |
+
0.09643432049779221
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.011186919615619543,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.9998350577040599,
|
| 58 |
+
0.012561599522335366,
|
| 59 |
+
-0.006849557129724009
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9895715713500977,
|
| 65 |
+
"position": [
|
| 66 |
+
0.08564456460590009,
|
| 67 |
+
0.007180443964898586,
|
| 68 |
+
0.04242556093959138
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.052390381163663464,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.8469670088471515,
|
| 74 |
+
0.00818028252496017,
|
| 75 |
+
-0.5289945338695355
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.989565372467041,
|
| 81 |
+
"position": [
|
| 82 |
+
0.01736477111990098,
|
| 83 |
+
0.01645680982619524,
|
| 84 |
+
0.09510267822770402
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.031253330032700415,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.9946621486219939,
|
| 90 |
+
0.005202105930651443,
|
| 91 |
+
-0.09820070037648367
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9895610809326172,
|
| 97 |
+
"position": [
|
| 98 |
+
0.0830231523286784,
|
| 99 |
+
-0.0374237010255456,
|
| 100 |
+
0.04873498453525826
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.010662906352246006,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.862496748528159,
|
| 106 |
+
-0.0025207547866089586,
|
| 107 |
+
-0.5059439761493192
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9895461201667786,
|
| 113 |
+
"position": [
|
| 114 |
+
0.08206101415271405,
|
| 115 |
+
-0.017940853722393513,
|
| 116 |
+
0.04932334943441674
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.018144758379627045,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.8764893366931363,
|
| 122 |
+
-0.009847918355324337,
|
| 123 |
+
0.48097840794638397
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9895195960998535,
|
| 129 |
+
"position": [
|
| 130 |
+
0.08121961263532285,
|
| 131 |
+
-0.021648001857101917,
|
| 132 |
+
0.0513846047106199
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.48140547411837675,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.003339901715108024,
|
| 138 |
+
-0.8764703736667406,
|
| 139 |
+
0.006107260423309393
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9891859889030457,
|
| 145 |
+
"position": [
|
| 146 |
+
0.029039786211797036,
|
| 147 |
+
-0.014201887417584658,
|
| 148 |
+
0.09220151900080964
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.15001549583646948,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.0017896271690440353,
|
| 154 |
+
-0.988669656903296,
|
| 155 |
+
0.004945478971054183
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.989006757736206,
|
| 161 |
+
"position": [
|
| 162 |
+
0.08508992848510388,
|
| 163 |
+
-0.024609863758087158,
|
| 164 |
+
0.04840159713057801
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.0007988652184089788,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.8612675114278484,
|
| 170 |
+
0.016196128183725733,
|
| 171 |
+
0.5078930212211029
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9889496564865112,
|
| 177 |
+
"position": [
|
| 178 |
+
0.0866714632284129,
|
| 179 |
+
-0.02249002642929554,
|
| 180 |
+
0.04436979739693925
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5228124077392617,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.022844328110741906,
|
| 186 |
+
-0.852112585369849,
|
| 187 |
+
-0.007033124579885538
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9888856410980225,
|
| 193 |
+
"position": [
|
| 194 |
+
0.019601072199293412,
|
| 195 |
+
-0.015866779489442706,
|
| 196 |
+
0.09613940416602418
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.007900914585356706,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.9940571689606099,
|
| 202 |
+
-0.006487178789448239,
|
| 203 |
+
0.10837821228496988
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9888777136802673,
|
| 209 |
+
"position": [
|
| 210 |
+
0.015235858983942308,
|
| 211 |
+
-0.015994008630514145,
|
| 212 |
+
0.09523095487384126
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.0768515252885548,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.02086797950231166,
|
| 218 |
+
-0.9968228212433763,
|
| 219 |
+
-0.0016228187541807457
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9888521432876587,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.006637833997956477,
|
| 227 |
+
-0.017818854190409184,
|
| 228 |
+
0.09594416170148179
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.020953751212027097,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.9991602130507166,
|
| 234 |
+
0.008734924959450344,
|
| 235 |
+
0.034110263155595774
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9888263940811157,
|
| 241 |
+
"position": [
|
| 242 |
+
0.07621738222951535,
|
| 243 |
+
-0.020940442569553852,
|
| 244 |
+
0.060237880039494485
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.4362804504543987,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.017105461851805205,
|
| 250 |
+
-0.8994913112247972,
|
| 251 |
+
-0.016797403288565587
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9887250065803528,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.007601481847814284,
|
| 259 |
+
-0.006455241236835718,
|
| 260 |
+
0.09720750449923798
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.0014964773028267383,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.9990470931035462,
|
| 266 |
+
-0.0036390740250995673,
|
| 267 |
+
-0.04346749886151987
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_16": {
|
| 272 |
+
"confidence": 0.9886366724967957,
|
| 273 |
+
"position": [
|
| 274 |
+
0.0011894607596332207,
|
| 275 |
+
0.0016571907326579094,
|
| 276 |
+
0.09762542246608064
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.015896680615326956,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.9996953673291342,
|
| 282 |
+
-0.016546942389451473,
|
| 283 |
+
0.009092127564091416
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_17": {
|
| 288 |
+
"confidence": 0.9885982275009155,
|
| 289 |
+
"position": [
|
| 290 |
+
0.015027719564386643,
|
| 291 |
+
-0.01151912662317045,
|
| 292 |
+
0.09716936497716233
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.0717507591517477,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.004600400453536089,
|
| 298 |
+
-0.9973999329330078,
|
| 299 |
+
-0.004902923826375462
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_19": {
|
| 304 |
+
"confidence": 0.9884336590766907,
|
| 305 |
+
"position": [
|
| 306 |
+
0.009791363976546563,
|
| 307 |
+
-0.03374094050377607,
|
| 308 |
+
0.0896383702638559
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.0739559707093131,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.0026399813804071515,
|
| 314 |
+
-0.981484731243715,
|
| 315 |
+
-0.17666710851261222
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
+
},
|
| 321 |
+
{
|
| 322 |
+
"part_name": "neck",
|
| 323 |
+
"mask_color": "Green",
|
| 324 |
+
"graspable": true,
|
| 325 |
+
"grasp_scenarios": [
|
| 326 |
+
{
|
| 327 |
+
"scenario": "grasp the neck for precise close-up positioning of the brush head",
|
| 328 |
+
"confidence": 0.46
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"scenario": "pinch the neck to stabilize the toothbrush while another tool interacts with the head",
|
| 332 |
+
"confidence": 0.39
|
| 333 |
+
}
|
| 334 |
+
],
|
| 335 |
+
"functional_labels": [
|
| 336 |
+
"connect handle to brush head",
|
| 337 |
+
"provide reach to the head",
|
| 338 |
+
"position the bristles",
|
| 339 |
+
"transmit brushing force"
|
| 340 |
+
],
|
| 341 |
+
"semantic_description": "Slim tapered white plastic neck with a matte smooth hard finish, extending from the handle to the head as a narrow intermediate section near the front.",
|
| 342 |
+
"id": 1,
|
| 343 |
+
"grasp_group": {
|
| 344 |
+
"grasp_27": {
|
| 345 |
+
"confidence": 0.49676015973091125,
|
| 346 |
+
"position": [
|
| 347 |
+
0.0004702271689893678,
|
| 348 |
+
0.16586596611887217,
|
| 349 |
+
-0.0029995437362231314
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.4597415210022263,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.44385920796695844,
|
| 355 |
+
0.5370964329247792,
|
| 356 |
+
-0.5505943689404952
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_33": {
|
| 361 |
+
"confidence": 0.3656385540962219,
|
| 362 |
+
"position": [
|
| 363 |
+
0.0014137119433144107,
|
| 364 |
+
0.16449845675379038,
|
| 365 |
+
0.0010525843244977295
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.45616511027863427,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.4571207210176581,
|
| 371 |
+
0.5411595608378263,
|
| 372 |
+
-0.5386096622736998
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_36": {
|
| 377 |
+
"confidence": 0.3132114112377167,
|
| 378 |
+
"position": [
|
| 379 |
+
0.002030868097790517,
|
| 380 |
+
0.16250471118837595,
|
| 381 |
+
0.023273608821909875
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.42489714059339584,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.4872077944801084,
|
| 387 |
+
-0.5899692817925486,
|
| 388 |
+
0.48376361113106564
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
}
|
| 393 |
+
},
|
| 394 |
+
{
|
| 395 |
+
"part_name": "collar ring",
|
| 396 |
+
"mask_color": "Cyan",
|
| 397 |
+
"graspable": false,
|
| 398 |
+
"grasp_scenarios": [],
|
| 399 |
+
"functional_labels": [
|
| 400 |
+
"mark transition between handle and neck",
|
| 401 |
+
"provide structural junction",
|
| 402 |
+
"indicate design boundary"
|
| 403 |
+
],
|
| 404 |
+
"semantic_description": "A small turquoise rubber or plastic accent ring with a smooth slightly glossy finish encircling the front of the handle where it meets the neck.",
|
| 405 |
+
"id": 6,
|
| 406 |
+
"grasp_group": {}
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"part_name": "bristle base",
|
| 410 |
+
"mask_color": "Purple",
|
| 411 |
+
"graspable": false,
|
| 412 |
+
"grasp_scenarios": [],
|
| 413 |
+
"functional_labels": [
|
| 414 |
+
"support bristle tufts",
|
| 415 |
+
"form the brush head",
|
| 416 |
+
"contact teeth surface",
|
| 417 |
+
"deliver brushing action"
|
| 418 |
+
],
|
| 419 |
+
"semantic_description": "Small rounded white plastic brush head with a smooth hard surface at the tip of the toothbrush, serving as the mounting base for the bristles.",
|
| 420 |
+
"id": 5,
|
| 421 |
+
"grasp_group": {}
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
"part_name": "bristles",
|
| 425 |
+
"mask_color": "Pink",
|
| 426 |
+
"graspable": false,
|
| 427 |
+
"grasp_scenarios": [],
|
| 428 |
+
"functional_labels": [
|
| 429 |
+
"clean teeth surfaces",
|
| 430 |
+
"scrub plaque",
|
| 431 |
+
"reach between contours",
|
| 432 |
+
"apply toothpaste during brushing"
|
| 433 |
+
],
|
| 434 |
+
"semantic_description": "Short dense nylon bristles in light blue, green, and white, with a fine slightly flexible texture clustered on the small head at the toothbrush tip.",
|
| 435 |
+
"id": 8,
|
| 436 |
+
"grasp_group": {}
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"part_name": "base cap",
|
| 440 |
+
"mask_color": "Orange",
|
| 441 |
+
"graspable": false,
|
| 442 |
+
"grasp_scenarios": [],
|
| 443 |
+
"functional_labels": [
|
| 444 |
+
"finish the handle end",
|
| 445 |
+
"protect the end surface",
|
| 446 |
+
"provide resting contact at the base"
|
| 447 |
+
],
|
| 448 |
+
"semantic_description": "Flat circular white end cap at the bottom of the handle, likely plastic, with a smooth hard finish and slightly recessed edge.",
|
| 449 |
+
"id": 4,
|
| 450 |
+
"grasp_group": {}
|
| 451 |
+
}
|
| 452 |
+
],
|
| 453 |
+
"quality_check": {
|
| 454 |
+
"success": true,
|
| 455 |
+
"message": "YES"
|
| 456 |
+
}
|
| 457 |
+
}
|
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0ab4e55872557206e81f7a92f7a0f0426f93006c93c1713d97d80b5b7d42d1dc
|
| 3 |
+
size 3786044
|
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/toothbrush_002.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|