Add asset bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/affordance_annot.json +386 -0
- dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8001,3 +8001,4 @@ dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/afforda
|
|
| 8001 |
dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8002 |
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8003 |
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8001 |
dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8002 |
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8003 |
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8004 |
+
dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,386 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the toothbrush",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the brush head during brushing or placement",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the toothbrush while retrieving it from a holder or tray",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"support controlled brushing motion",
|
| 24 |
+
"connect brush head to user grip",
|
| 25 |
+
"stabilize and orient the toothbrush"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long bright pink plastic handle with a smooth mostly matte surface, slightly tapered ergonomic shape, and small dark blue rubberized grip accents along the middle.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "bristle head and rubber grip inserts",
|
| 33 |
+
"mask_color": "Navy",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "delicately grasp the bristle head to reorient the toothbrush in a bin or tray",
|
| 38 |
+
"confidence": 0.29
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "pinch the dark blue rubber grip insert area to improve traction while lifting or repositioning the toothbrush",
|
| 42 |
+
"confidence": 0.71
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "use the rubber insert area as a non-slip contact point to stabilize the toothbrush during manipulation",
|
| 46 |
+
"confidence": 0.68
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"clean teeth surfaces with the bristle head",
|
| 51 |
+
"scrub along gumline",
|
| 52 |
+
"apply toothpaste during brushing",
|
| 53 |
+
"improve hand traction at the grip inserts",
|
| 54 |
+
"enhance control and ergonomic comfort"
|
| 55 |
+
],
|
| 56 |
+
"semantic_description": "Dark blue segmented regions including the dense bristles on the brush head and small rubber-like inset grip patches on the pink handle; the bristles appear compact with some light-colored tips, while the inserts are shallow oval and striped accents with a matte grippy texture.",
|
| 57 |
+
"id": 13,
|
| 58 |
+
"grasp_group": {
|
| 59 |
+
"grasp_0": {
|
| 60 |
+
"confidence": 0.9228479862213135,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.0052639672212535515,
|
| 63 |
+
0.13958052749512717,
|
| 64 |
+
0.0527975010627415
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.04165941129671155,
|
| 68 |
+
"xyz": [
|
| 69 |
+
0.021906112581001582,
|
| 70 |
+
0.856022917705007,
|
| 71 |
+
-0.5147906176746103
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_1": {
|
| 76 |
+
"confidence": 0.9213618636131287,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.007667722427868284,
|
| 79 |
+
0.14127797837136313,
|
| 80 |
+
0.05233385888277553
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.041942999906621634,
|
| 84 |
+
"xyz": [
|
| 85 |
+
0.014433728048863979,
|
| 86 |
+
0.8532884365750995,
|
| 87 |
+
-0.5195491278605597
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_2": {
|
| 92 |
+
"confidence": 0.9208402633666992,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.0035947221476817504,
|
| 95 |
+
0.13792192394612357,
|
| 96 |
+
0.05324971777736209
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.03357561777223917,
|
| 100 |
+
"xyz": [
|
| 101 |
+
0.029447242823831377,
|
| 102 |
+
0.8575772766640594,
|
| 103 |
+
-0.5124126777615313
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_3": {
|
| 108 |
+
"confidence": 0.9179254770278931,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.005304348436766304,
|
| 111 |
+
0.1377087330329232,
|
| 112 |
+
0.05377179858624004
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.03926633843727424,
|
| 116 |
+
"xyz": [
|
| 117 |
+
0.02313924955214343,
|
| 118 |
+
0.8569112074354592,
|
| 119 |
+
-0.5134451405626469
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_4": {
|
| 124 |
+
"confidence": 0.9144651889801025,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.01008517226728145,
|
| 127 |
+
0.13788656349061057,
|
| 128 |
+
0.05319269475876354
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.057074941719902635,
|
| 132 |
+
"xyz": [
|
| 133 |
+
0.014255051575509995,
|
| 134 |
+
0.8570469571102898,
|
| 135 |
+
-0.5118688873532372
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_5": {
|
| 140 |
+
"confidence": 0.9132831692695618,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.006723742713802494,
|
| 143 |
+
0.1370976513135247,
|
| 144 |
+
0.05693090436398052
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.03939319716342958,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.016361657610647593,
|
| 150 |
+
0.8605534515267221,
|
| 151 |
+
-0.50757091055627
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_6": {
|
| 156 |
+
"confidence": 0.9130387902259827,
|
| 157 |
+
"position": [
|
| 158 |
+
-0.0014102171553531662,
|
| 159 |
+
0.1374354755389504,
|
| 160 |
+
0.056713310157647356
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.002480309675089843,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.00548793272424868,
|
| 166 |
+
0.8592932942981752,
|
| 167 |
+
-0.5114477148570703
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_7": {
|
| 172 |
+
"confidence": 0.9128093123435974,
|
| 173 |
+
"position": [
|
| 174 |
+
-0.006905261674546637,
|
| 175 |
+
0.13790861720917746,
|
| 176 |
+
0.05798938972293399
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.034102813625965886,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.015728079313298646,
|
| 182 |
+
0.8616911478156912,
|
| 183 |
+
-0.5060414917770908
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_8": {
|
| 188 |
+
"confidence": 0.9117905497550964,
|
| 189 |
+
"position": [
|
| 190 |
+
-0.004608959206962027,
|
| 191 |
+
0.13580847735283896,
|
| 192 |
+
0.052877255802741274
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.03845930474080936,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.024525020077528326,
|
| 198 |
+
0.8576432694245276,
|
| 199 |
+
-0.512218144621856
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
"grasp_9": {
|
| 204 |
+
"confidence": 0.9096423387527466,
|
| 205 |
+
"position": [
|
| 206 |
+
-0.0016617170913377777,
|
| 207 |
+
0.14884247834561393,
|
| 208 |
+
0.01309136682539247
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.043199869845818965,
|
| 212 |
+
"xyz": [
|
| 213 |
+
0.030503535533361454,
|
| 214 |
+
0.7233599299791603,
|
| 215 |
+
-0.6884429658772129
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_10": {
|
| 220 |
+
"confidence": 0.9089069962501526,
|
| 221 |
+
"position": [
|
| 222 |
+
-0.0023776525777066126,
|
| 223 |
+
0.13914115185616538,
|
| 224 |
+
0.05961423469125293
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.027638209418351902,
|
| 228 |
+
"xyz": [
|
| 229 |
+
0.0248648218471725,
|
| 230 |
+
0.8624722205497015,
|
| 231 |
+
-0.5047370986907166
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"grasp_11": {
|
| 236 |
+
"confidence": 0.9066767692565918,
|
| 237 |
+
"position": [
|
| 238 |
+
-0.0053354886040324345,
|
| 239 |
+
0.1493521129596047,
|
| 240 |
+
0.014119213534286246
|
| 241 |
+
],
|
| 242 |
+
"orientation": {
|
| 243 |
+
"w": 0.04751651679633325,
|
| 244 |
+
"xyz": [
|
| 245 |
+
0.017260056102489183,
|
| 246 |
+
0.7197855441271432,
|
| 247 |
+
-0.6923532635587669
|
| 248 |
+
]
|
| 249 |
+
}
|
| 250 |
+
},
|
| 251 |
+
"grasp_12": {
|
| 252 |
+
"confidence": 0.9065694808959961,
|
| 253 |
+
"position": [
|
| 254 |
+
-0.006549838246428408,
|
| 255 |
+
0.12707831914303824,
|
| 256 |
+
0.07429745895205997
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.049915738608233555,
|
| 260 |
+
"xyz": [
|
| 261 |
+
0.021795686521529602,
|
| 262 |
+
0.9049117095584495,
|
| 263 |
+
-0.4220997097751356
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_13": {
|
| 268 |
+
"confidence": 0.9046310782432556,
|
| 269 |
+
"position": [
|
| 270 |
+
-0.007301298683159985,
|
| 271 |
+
0.14167217368958518,
|
| 272 |
+
0.04923559454618953
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.5350479874491186,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.8442267957803983,
|
| 278 |
+
-0.008336646696979422,
|
| 279 |
+
0.030582163671969975
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_14": {
|
| 284 |
+
"confidence": 0.9043633937835693,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.009344563135528006,
|
| 287 |
+
0.14877028221962973,
|
| 288 |
+
0.02292508733808063
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.06471788671672885,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.007398723939294222,
|
| 294 |
+
0.7520531000660464,
|
| 295 |
+
-0.6558757418170305
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_15": {
|
| 300 |
+
"confidence": 0.9000663757324219,
|
| 301 |
+
"position": [
|
| 302 |
+
-0.004802442403160967,
|
| 303 |
+
0.14537916536210105,
|
| 304 |
+
0.018623910000314936
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.06332254266820875,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.03575880472910798,
|
| 310 |
+
0.7294173020646386,
|
| 311 |
+
-0.6801925925229723
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_16": {
|
| 316 |
+
"confidence": 0.8988378047943115,
|
| 317 |
+
"position": [
|
| 318 |
+
-0.006269554389291443,
|
| 319 |
+
0.15172835643170401,
|
| 320 |
+
0.013018287805607542
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.08034721345048859,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.036056023979112964,
|
| 326 |
+
0.7154654154463976,
|
| 327 |
+
-0.693075412726258
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_17": {
|
| 332 |
+
"confidence": 0.8984194397926331,
|
| 333 |
+
"position": [
|
| 334 |
+
-0.0037724482972407714,
|
| 335 |
+
0.1390340274083428,
|
| 336 |
+
0.051221896981587633
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.5231991655822733,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.8519636029093383,
|
| 342 |
+
-0.013538159210245704,
|
| 343 |
+
0.015406839291378848
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_18": {
|
| 348 |
+
"confidence": 0.8978562355041504,
|
| 349 |
+
"position": [
|
| 350 |
+
-0.0028432228282326832,
|
| 351 |
+
0.14681599492905661,
|
| 352 |
+
0.008222042670240626
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.08179962447345786,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.05296174369526063,
|
| 358 |
+
0.7073870014863884,
|
| 359 |
+
-0.7000767852663411
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_19": {
|
| 364 |
+
"confidence": 0.8905251622200012,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.005183728659176268,
|
| 367 |
+
0.1403649246203713,
|
| 368 |
+
0.05372630161582492
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.526117671052878,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.8498810902932997,
|
| 374 |
+
-0.01692990523432969,
|
| 375 |
+
0.024813441448623588
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
}
|
| 380 |
+
}
|
| 381 |
+
],
|
| 382 |
+
"quality_check": {
|
| 383 |
+
"success": false,
|
| 384 |
+
"message": "Mask color and part grouping are wrong; navy region includes only bristle head, not handle inserts."
|
| 385 |
+
}
|
| 386 |
+
}
|
dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:73d2715b15bdf928618732707a75bc0b70594533c86d3b6b79690519f9655b21
|
| 3 |
+
size 3810944
|
dataset/bathroom_supplies/personal_care/846fee879c47579e9a1ddcc7c0d94745/toothbrush_003.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>NO: {"summary":"Bristles are segmented, but head and handle are merged; tiny pink spots are noise, not functional parts.","merge_groups":[]}</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>NO: {"summary":"Bristles are segmented, but head and handle are merged; tiny pink spots are noise, not functional parts.","merge_groups":[]}</PartSegChecker>
|