Add asset bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/affordance/affordance_annot.json +377 -0
- dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/toothbrush_033.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5808,3 +5808,4 @@ dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/afforda
|
|
| 5808 |
dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5809 |
dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5808 |
dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5809 |
dataset/bathroom_supplies/personal_care/a67542bae5f45c7d8905c41557e2dc0e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5810 |
dataset/bathroom_supplies/personal_care/a9a3a835c88b52b092c170d740880093/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5811 |
+
dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,377 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush body",
|
| 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 during brushing",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the toothbrush by clamping the neck or handle during manipulation",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support the brush head",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"orient the toothbrush during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Light mint-green plastic body with a smooth matte finish, consisting of an elongated gently curved handle, narrowed neck, and oval brush head, with shallow molded grip contours near the middle and an embossed oval mark near the handle end.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9887050986289978,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.008518632501363754,
|
| 34 |
+
-0.0015793350612511858,
|
| 35 |
+
0.09567983636861754
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.07448974828995397,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.709484177399722,
|
| 41 |
+
0.6947574880494206,
|
| 42 |
+
0.09162702777236809
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9870850443840027,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.024648498743772507,
|
| 50 |
+
-0.004201605785056017,
|
| 51 |
+
0.0932857711077304
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.14713093547534478,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6901580703147475,
|
| 57 |
+
0.6970838291046989,
|
| 58 |
+
-0.126919112060812
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9870666861534119,
|
| 64 |
+
"position": [
|
| 65 |
+
0.05602235812693834,
|
| 66 |
+
0.005813450217829086,
|
| 67 |
+
0.09687888065582229
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.13043063055849205,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6856205213967834,
|
| 73 |
+
-0.6957557727242194,
|
| 74 |
+
0.16981241407106074
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9860855340957642,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.022613441571593285,
|
| 82 |
+
-0.004003569352789782,
|
| 83 |
+
0.09651977012163115
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.12809398538063774,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.7002289363338016,
|
| 89 |
+
0.6926442055701025,
|
| 90 |
+
-0.11625563263902261
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.985243558883667,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.012039548018947244,
|
| 98 |
+
0.09252776451467071,
|
| 99 |
+
0.011550457237717637
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.521471335436189,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.44585307494974064,
|
| 105 |
+
0.5960707471312904,
|
| 106 |
+
-0.41711191099104816
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.9849046468734741,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.030776421539485455,
|
| 114 |
+
-0.0023116931406548247,
|
| 115 |
+
0.09120095709567977
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.14544750613354895,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6905311096812395,
|
| 121 |
+
0.6900429442631176,
|
| 122 |
+
0.16078726502623175
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.9844546318054199,
|
| 128 |
+
"position": [
|
| 129 |
+
0.010990851558744907,
|
| 130 |
+
0.09720211722014938,
|
| 131 |
+
-0.006424732485356799
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5274900432178071,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.5025523791639932,
|
| 137 |
+
0.47722793050079815,
|
| 138 |
+
-0.49137446296344267
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_10": {
|
| 143 |
+
"confidence": 0.9843989610671997,
|
| 144 |
+
"position": [
|
| 145 |
+
0.00881663616746664,
|
| 146 |
+
-0.0035882774827769026,
|
| 147 |
+
0.1034171004057498
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.007377719020507189,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7158989266292316,
|
| 153 |
+
-0.6977490961184692,
|
| 154 |
+
-0.024093463408733702
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_11": {
|
| 159 |
+
"confidence": 0.9843953847885132,
|
| 160 |
+
"position": [
|
| 161 |
+
0.0001982506364583969,
|
| 162 |
+
-0.004171931985183619,
|
| 163 |
+
0.09977447429901076
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.02859222525316365,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.707337934190202,
|
| 169 |
+
0.7062870919902695,
|
| 170 |
+
-0.003751692756385131
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_12": {
|
| 175 |
+
"confidence": 0.9843782782554626,
|
| 176 |
+
"position": [
|
| 177 |
+
0.01157540362328291,
|
| 178 |
+
0.0012320974055910483,
|
| 179 |
+
0.10037453660970641
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.012716740283894397,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.7030317500628025,
|
| 185 |
+
-0.7108360717618469,
|
| 186 |
+
0.01722562052211315
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_13": {
|
| 191 |
+
"confidence": 0.9840511679649353,
|
| 192 |
+
"position": [
|
| 193 |
+
0.042742145247757435,
|
| 194 |
+
-0.0016981094231596217,
|
| 195 |
+
0.09884197453266097
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.12010555723586822,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7035627311621101,
|
| 201 |
+
-0.6883480565544101,
|
| 202 |
+
0.12942600773623583
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.9839411377906799,
|
| 208 |
+
"position": [
|
| 209 |
+
0.015986653976142406,
|
| 210 |
+
-0.0013759315334027633,
|
| 211 |
+
-0.09948487391466188
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.7076640781619886,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.013555250175722412,
|
| 217 |
+
-0.002390402751567211,
|
| 218 |
+
-0.7064149585381821
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_16": {
|
| 223 |
+
"confidence": 0.9838211536407471,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.036816404201090336,
|
| 226 |
+
0.08443337924836669,
|
| 227 |
+
0.03277338112002326
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5305388536986735,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.4922583574786283,
|
| 233 |
+
0.6444128360098623,
|
| 234 |
+
-0.2468650056088675
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_17": {
|
| 239 |
+
"confidence": 0.9837285876274109,
|
| 240 |
+
"position": [
|
| 241 |
+
0.0011907406151294708,
|
| 242 |
+
-0.0026929223531624302,
|
| 243 |
+
0.10189423153406096
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.022864807638973892,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.71232149864881,
|
| 249 |
+
0.7014110482465632,
|
| 250 |
+
-0.00989062849389414
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.9835683107376099,
|
| 256 |
+
"position": [
|
| 257 |
+
0.007100076414644718,
|
| 258 |
+
-0.003052383995964192,
|
| 259 |
+
0.10409269670253707
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.030776958529754705,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.7105023182911097,
|
| 265 |
+
0.7029800214052773,
|
| 266 |
+
-0.007637017196033384
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "main bristle field",
|
| 274 |
+
"mask_color": "Pink",
|
| 275 |
+
"graspable": false,
|
| 276 |
+
"grasp_scenarios": [],
|
| 277 |
+
"functional_labels": [
|
| 278 |
+
"scrub teeth",
|
| 279 |
+
"clean surfaces in the mouth",
|
| 280 |
+
"apply and spread toothpaste during brushing",
|
| 281 |
+
"provide gentle contact with enamel and gums"
|
| 282 |
+
],
|
| 283 |
+
"semantic_description": "Dense cluster of short white bristles arranged in upright tufted rows across most of the toothbrush head, with a soft fine texture.",
|
| 284 |
+
"id": 8,
|
| 285 |
+
"grasp_group": {}
|
| 286 |
+
},
|
| 287 |
+
{
|
| 288 |
+
"part_name": "outer bristle rows",
|
| 289 |
+
"mask_color": "Cyan",
|
| 290 |
+
"graspable": false,
|
| 291 |
+
"grasp_scenarios": [],
|
| 292 |
+
"functional_labels": [
|
| 293 |
+
"increase brushing coverage",
|
| 294 |
+
"provide additional scrubbing contact",
|
| 295 |
+
"help clean along tooth surfaces",
|
| 296 |
+
"surround adjacent bristle groups"
|
| 297 |
+
],
|
| 298 |
+
"semantic_description": "Small pale cyan bristle rows along one outer side of the bristle block, appearing as short upright fine filaments.",
|
| 299 |
+
"id": 6,
|
| 300 |
+
"grasp_group": {}
|
| 301 |
+
},
|
| 302 |
+
{
|
| 303 |
+
"part_name": "top accent bristle strip",
|
| 304 |
+
"mask_color": "Lime Green",
|
| 305 |
+
"graspable": false,
|
| 306 |
+
"grasp_scenarios": [],
|
| 307 |
+
"functional_labels": [
|
| 308 |
+
"provide additional cleaning contact",
|
| 309 |
+
"help distinguish brush orientation",
|
| 310 |
+
"add localized scrubbing variation"
|
| 311 |
+
],
|
| 312 |
+
"semantic_description": "Narrow light green strip of short upright bristles along the top edge of the bristle cluster.",
|
| 313 |
+
"id": 9,
|
| 314 |
+
"grasp_group": {}
|
| 315 |
+
},
|
| 316 |
+
{
|
| 317 |
+
"part_name": "rear oval grip patch",
|
| 318 |
+
"mask_color": "Orange",
|
| 319 |
+
"graspable": false,
|
| 320 |
+
"grasp_scenarios": [],
|
| 321 |
+
"functional_labels": [
|
| 322 |
+
"improve hand traction",
|
| 323 |
+
"provide tactile grip feedback",
|
| 324 |
+
"reduce slipping when wet"
|
| 325 |
+
],
|
| 326 |
+
"semantic_description": "Oval orange inset patch on one face near the handle end, matte and slightly recessed within the mint-green handle.",
|
| 327 |
+
"id": 4,
|
| 328 |
+
"grasp_group": {}
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"part_name": "rear embossed logo area",
|
| 332 |
+
"mask_color": "Purple",
|
| 333 |
+
"graspable": false,
|
| 334 |
+
"grasp_scenarios": [],
|
| 335 |
+
"functional_labels": [
|
| 336 |
+
"brand marking",
|
| 337 |
+
"visual identification",
|
| 338 |
+
"decorate the handle"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Small purple oval region centered inside the orange rear patch, corresponding to the embossed logo area near the handle end.",
|
| 341 |
+
"id": 5,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
},
|
| 344 |
+
{
|
| 345 |
+
"part_name": "front oval grip patch",
|
| 346 |
+
"mask_color": "Blue",
|
| 347 |
+
"graspable": false,
|
| 348 |
+
"grasp_scenarios": [],
|
| 349 |
+
"functional_labels": [
|
| 350 |
+
"improve finger traction",
|
| 351 |
+
"support controlled brushing",
|
| 352 |
+
"reduce slip on the handle"
|
| 353 |
+
],
|
| 354 |
+
"semantic_description": "Oval blue inset patch on the opposite face near the handle end, contrasting with the mint-green plastic body.",
|
| 355 |
+
"id": 2,
|
| 356 |
+
"grasp_group": {}
|
| 357 |
+
},
|
| 358 |
+
{
|
| 359 |
+
"part_name": "front small logo mark",
|
| 360 |
+
"mask_color": "Yellow",
|
| 361 |
+
"graspable": false,
|
| 362 |
+
"grasp_scenarios": [],
|
| 363 |
+
"functional_labels": [
|
| 364 |
+
"brand marking",
|
| 365 |
+
"visual identification",
|
| 366 |
+
"decorate the handle"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Tiny yellow mark located within the blue oval patch near the handle end, visible as a small logo-like detail.",
|
| 369 |
+
"id": 3,
|
| 370 |
+
"grasp_group": {}
|
| 371 |
+
}
|
| 372 |
+
],
|
| 373 |
+
"quality_check": {
|
| 374 |
+
"success": false,
|
| 375 |
+
"message": "Multiple part colors/descriptions mismatch RGB image; logo/grip patch colors are segmentation colors, not real object colors."
|
| 376 |
+
}
|
| 377 |
+
}
|
dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:05244937e83a8990d62648d074a863fa11f017f5daf5c522c9cb863286d80924
|
| 3 |
+
size 3785896
|
dataset/bathroom_supplies/personal_care/a70099e651535771875d7e9f555995d3/toothbrush_033.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|