Add asset bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/affordance_annot.json +431 -0
- dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5755,3 +5755,4 @@ dataset/bathroom_supplies/personal_care/1f28a552cc3e59cb882574629b3a57e2/afforda
|
|
| 5755 |
dataset/bathroom_supplies/personal_care/1f29af547b64523e8f4dd7943c449f2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5756 |
dataset/bathroom_supplies/personal_care/1f63bf9858285b398d0c5a31aa622730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5757 |
dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5755 |
dataset/bathroom_supplies/personal_care/1f29af547b64523e8f4dd7943c449f2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5756 |
dataset/bathroom_supplies/personal_care/1f63bf9858285b398d0c5a31aa622730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5757 |
dataset/bathroom_supplies/personal_care/20c64eca019153bb99d8a6401011359d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5758 |
+
dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "floss container body",
|
| 5 |
+
"mask_color": "Maroon",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the container body from the sides to pick up and move the floss case",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while opening the top lid",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the case during floss dispensing or cutting",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the floss spool",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"protect internal contents",
|
| 26 |
+
"stabilize the case during opening"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Main light blue plastic lower case with a smooth semi-gloss finish, rounded rectangular shape, vertically ribbed side surfaces, and a dark rectangular cutter/opening area visible along one bottom-front face. It forms most of the object's volume beneath the top lid.",
|
| 29 |
+
"id": 12,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.987734854221344,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.004048309929203242,
|
| 35 |
+
-0.1450332198292017,
|
| 36 |
+
0.008525819081114605
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.016639462306750268,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.015077567131021716,
|
| 42 |
+
0.7010899725226637,
|
| 43 |
+
0.712719191331146
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9876018166542053,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.00015212869038805366,
|
| 51 |
+
0.03467654623091221,
|
| 52 |
+
-0.12433207358117215
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.01671649146302642,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.00904419762403035,
|
| 58 |
+
0.006644232909301162,
|
| 59 |
+
-0.999797287239544
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9869733452796936,
|
| 65 |
+
"position": [
|
| 66 |
+
0.005696628068108112,
|
| 67 |
+
0.14601639471948147,
|
| 68 |
+
0.02157737922971137
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.012097496503560854,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.006519146863776616,
|
| 74 |
+
-0.7185838479422706,
|
| 75 |
+
0.6953045410314782
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9869280457496643,
|
| 81 |
+
"position": [
|
| 82 |
+
0.0010712420917116106,
|
| 83 |
+
-0.05270065553486347,
|
| 84 |
+
0.12322028403286822
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.050181350076668935,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.9987336776676531,
|
| 90 |
+
-0.002393610969699013,
|
| 91 |
+
-0.002672793193079001
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9868133068084717,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0036554845864884555,
|
| 99 |
+
0.14952941797673702,
|
| 100 |
+
0.0009258005593437701
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.03633314565604321,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.02081954000770182,
|
| 106 |
+
0.7241217784145916,
|
| 107 |
+
-0.6883996653879878
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.986804723739624,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.0004961767699569464,
|
| 115 |
+
-0.05714890547096729,
|
| 116 |
+
-0.12150211955304258
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.9981893232610776,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.06014660758209891,
|
| 122 |
+
0.00039598639075344444,
|
| 123 |
+
-0.000551106827555548
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9868019223213196,
|
| 129 |
+
"position": [
|
| 130 |
+
0.0005653529660776258,
|
| 131 |
+
-0.046363143250346184,
|
| 132 |
+
0.12141449426417239
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.013064325654182793,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.9999122064866973,
|
| 138 |
+
0.0021487293507451675,
|
| 139 |
+
0.0005344869344836394
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.986781656742096,
|
| 145 |
+
"position": [
|
| 146 |
+
0.0023477578652091324,
|
| 147 |
+
0.02212599851191044,
|
| 148 |
+
-0.12299514884944074
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.007732748132941702,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.007891719202474438,
|
| 154 |
+
0.01248682833472603,
|
| 155 |
+
-0.9998609925847096
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.9867032766342163,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.0013963467790745199,
|
| 163 |
+
-0.04535870812833309,
|
| 164 |
+
0.12338742290739901
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.0271777590290458,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.9995917329092034,
|
| 170 |
+
0.004380246519843093,
|
| 171 |
+
-0.007651820316774295
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_10": {
|
| 176 |
+
"confidence": 0.9866917133331299,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.0017346199019812047,
|
| 179 |
+
0.1370979007333517,
|
| 180 |
+
-0.05760852198000066
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.02107340635368207,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.009577012624055812,
|
| 186 |
+
0.5198715673615357,
|
| 187 |
+
-0.8539307617265653
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_12": {
|
| 192 |
+
"confidence": 0.9865449070930481,
|
| 193 |
+
"position": [
|
| 194 |
+
0.0008607936906628311,
|
| 195 |
+
0.1329351868480444,
|
| 196 |
+
-0.06824983234400861
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.8685816955902586,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.4951252462982001,
|
| 202 |
+
0.007094530984270264,
|
| 203 |
+
0.019144090310377285
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.9863757491111755,
|
| 209 |
+
"position": [
|
| 210 |
+
0.001762699626851827,
|
| 211 |
+
0.13291308842599392,
|
| 212 |
+
-0.06659436548943631
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.8622902532400709,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.5063900303205797,
|
| 218 |
+
-0.0021642213243932007,
|
| 219 |
+
0.004469060880746564
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.9863643050193787,
|
| 225 |
+
"position": [
|
| 226 |
+
0.007102862757164985,
|
| 227 |
+
0.09385120682418346,
|
| 228 |
+
-0.1077919038652908
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.01606402970180166,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.024780451971893207,
|
| 234 |
+
0.27742649339196024,
|
| 235 |
+
-0.9602928807994199
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9861901998519897,
|
| 241 |
+
"position": [
|
| 242 |
+
0.0013055693707428873,
|
| 243 |
+
0.14798017404973507,
|
| 244 |
+
0.005623385339276865
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.037933853412272116,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.0011673212922045679,
|
| 250 |
+
0.7191461967268746,
|
| 251 |
+
-0.6938215965646851
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_17": {
|
| 256 |
+
"confidence": 0.9860973358154297,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.0006889266078360379,
|
| 259 |
+
0.05253501795232296,
|
| 260 |
+
-0.12355437452788465
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.010114335451416006,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.007135103330238082,
|
| 266 |
+
-0.028049485922996498,
|
| 267 |
+
0.9995298979311719
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_18": {
|
| 272 |
+
"confidence": 0.9860751032829285,
|
| 273 |
+
"position": [
|
| 274 |
+
0.0029335583676584065,
|
| 275 |
+
0.042328549548983574,
|
| 276 |
+
-0.13064626927371137
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.011583621261477961,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.01686122854636707,
|
| 282 |
+
0.02156925333800097,
|
| 283 |
+
-0.9995580453384477
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "floss container lid",
|
| 291 |
+
"mask_color": "Olive",
|
| 292 |
+
"graspable": true,
|
| 293 |
+
"grasp_scenarios": [
|
| 294 |
+
{
|
| 295 |
+
"scenario": "pinch or lift the top lid edge to open the floss container",
|
| 296 |
+
"confidence": 0.82
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"scenario": "press and guide the lid closed against the body",
|
| 300 |
+
"confidence": 0.72
|
| 301 |
+
}
|
| 302 |
+
],
|
| 303 |
+
"functional_labels": [
|
| 304 |
+
"cover the container",
|
| 305 |
+
"open for access to the interior",
|
| 306 |
+
"retain contents inside",
|
| 307 |
+
"provide top closure"
|
| 308 |
+
],
|
| 309 |
+
"semantic_description": "Light blue plastic top lid forming the upper panel of the case, with a smooth semi-gloss finish, rounded corners, and a small shallow rounded-rectangle fingertip recess near the center. The lid spans the top surface and is slightly distinct from the lower body seam.",
|
| 310 |
+
"id": 14,
|
| 311 |
+
"grasp_group": {
|
| 312 |
+
"grasp_20": {
|
| 313 |
+
"confidence": 0.051975976675748825,
|
| 314 |
+
"position": [
|
| 315 |
+
-0.03224008873803541,
|
| 316 |
+
0.1266865637153387,
|
| 317 |
+
0.029791821289109066
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.5455097516533894,
|
| 321 |
+
"xyz": [
|
| 322 |
+
0.41684746032536546,
|
| 323 |
+
0.6357438629897171,
|
| 324 |
+
-0.3528272188228423
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_22": {
|
| 329 |
+
"confidence": 0.01570350117981434,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.03463568881852552,
|
| 332 |
+
-0.12819563038647175,
|
| 333 |
+
0.027363345521735027
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.5429103987469107,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.3691603832157974,
|
| 339 |
+
0.6548038648571561,
|
| 340 |
+
0.3744339847884639
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_24": {
|
| 345 |
+
"confidence": 0.08834005892276764,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.07573477894766256,
|
| 348 |
+
0.10159619711339474,
|
| 349 |
+
0.023157600808190182
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.613726961569336,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.18854495559702433,
|
| 355 |
+
0.7187530716918777,
|
| 356 |
+
-0.2668033700973018
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_25": {
|
| 361 |
+
"confidence": 0.07827655971050262,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.06235784263117239,
|
| 364 |
+
0.12254000268876553,
|
| 365 |
+
0.036922090250300243
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.5554758574465621,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.32772637839900903,
|
| 371 |
+
0.6952119454263839,
|
| 372 |
+
-0.31736783647990885
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_30": {
|
| 377 |
+
"confidence": 0.09614215046167374,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.08939312369329855,
|
| 380 |
+
0.08946982584893703,
|
| 381 |
+
0.05268094738130458
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.15240111962211866,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.7802751476001747,
|
| 387 |
+
-0.20840139736218866,
|
| 388 |
+
0.5696608204475165
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_31": {
|
| 393 |
+
"confidence": 0.08809999376535416,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.08871069521410391,
|
| 396 |
+
0.05536090396344662,
|
| 397 |
+
0.030974183726357296
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.1729443595500687,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.7523741514564555,
|
| 403 |
+
-0.17893620620611883,
|
| 404 |
+
0.6099223055673212
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_32": {
|
| 409 |
+
"confidence": 0.06738006323575974,
|
| 410 |
+
"position": [
|
| 411 |
+
0.09119579225080088,
|
| 412 |
+
-0.09286651946604252,
|
| 413 |
+
0.045359012234257534
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.5785068583802905,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.23194004468522386,
|
| 419 |
+
-0.7713069212843904,
|
| 420 |
+
-0.12891572307976482
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
}
|
| 424 |
+
}
|
| 425 |
+
}
|
| 426 |
+
],
|
| 427 |
+
"quality_check": {
|
| 428 |
+
"success": false,
|
| 429 |
+
"message": "Body description incorrectly mentions dark cutter/opening area; masked parts otherwise reasonable."
|
| 430 |
+
}
|
| 431 |
+
}
|
dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e0fe17315412449910fbc2c37450fa951c6d5795818b7ba4ebf9fff9315fa8d3
|
| 3 |
+
size 3831108
|
dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.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>
|