Add asset bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/affordance_annot.json +442 -0
- dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5829,4 +5829,5 @@ dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/afforda
|
|
| 5829 |
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5831 |
dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5832 |
-
dataset/bathroom_supplies/personal_care/
|
|
|
|
|
|
| 5829 |
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5831 |
dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5832 |
+
dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5833 |
+
dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,442 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the floss container",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while accessing the floss",
|
| 14 |
+
"confidence": 0.7
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the floss compartment",
|
| 19 |
+
"open and close the container",
|
| 20 |
+
"protect contents",
|
| 21 |
+
"provide access to floss and cutter"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded mint-green plastic lid with a smooth semi-gloss hard surface, medium size, hinged at the back and spanning the top of the container.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.960607647895813,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.00018740398809313774,
|
| 30 |
+
0.12255207322596107,
|
| 31 |
+
0.02983070071786642
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.046587125975684464,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.05046108697866531,
|
| 37 |
+
0.7077739505691709,
|
| 38 |
+
-0.7030927060423584
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_4": {
|
| 43 |
+
"confidence": 0.95709627866745,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0008450914174318314,
|
| 46 |
+
0.12393845491169486,
|
| 47 |
+
0.04436303023248911
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.03215029265863834,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.0399095073954597,
|
| 53 |
+
0.7444248544902465,
|
| 54 |
+
-0.6657366040098673
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.9563343524932861,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.013873815536499023,
|
| 62 |
+
0.1252169447398046,
|
| 63 |
+
0.033261011354625225
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.07878803988184985,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.018492806483863082,
|
| 69 |
+
0.7226254441978937,
|
| 70 |
+
-0.6864859272248215
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_8": {
|
| 75 |
+
"confidence": 0.9536752700805664,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.005182467284612358,
|
| 78 |
+
0.1182327704882482,
|
| 79 |
+
0.03368032816797495
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.05038435124543145,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.02558781453949128,
|
| 85 |
+
0.7212004853621603,
|
| 86 |
+
-0.690417656791926
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_18": {
|
| 91 |
+
"confidence": 0.9454497694969177,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.006593550555408001,
|
| 94 |
+
-0.11401587106229272,
|
| 95 |
+
0.07951531279832125
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4879643257101763,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.8727264928753663,
|
| 101 |
+
0.0005398461708027713,
|
| 102 |
+
-0.015459431871461414
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
{
|
| 109 |
+
"part_name": "container body",
|
| 110 |
+
"mask_color": "Pink",
|
| 111 |
+
"graspable": true,
|
| 112 |
+
"grasp_scenarios": [
|
| 113 |
+
{
|
| 114 |
+
"scenario": "grasp the container body to pick up and move the floss case",
|
| 115 |
+
"confidence": 0.96
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"scenario": "hold the body steady while pulling floss out",
|
| 119 |
+
"confidence": 0.92
|
| 120 |
+
}
|
| 121 |
+
],
|
| 122 |
+
"functional_labels": [
|
| 123 |
+
"contain the floss spool",
|
| 124 |
+
"support the lid and cutter",
|
| 125 |
+
"provide main grasp surface",
|
| 126 |
+
"stabilize during dispensing"
|
| 127 |
+
],
|
| 128 |
+
"semantic_description": "Compact mint-green plastic case body with a hard semi-gloss finish, smooth rounded rectangular shape, ribbed sides, and the largest mass of the object forming the lower portion.",
|
| 129 |
+
"id": 8,
|
| 130 |
+
"grasp_group": {
|
| 131 |
+
"grasp_20": {
|
| 132 |
+
"confidence": 0.9828570485115051,
|
| 133 |
+
"position": [
|
| 134 |
+
-0.011849791742861271,
|
| 135 |
+
0.1057615192985395,
|
| 136 |
+
-0.0610359413549304
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.07532674295269007,
|
| 140 |
+
"xyz": [
|
| 141 |
+
-0.03997307493356066,
|
| 142 |
+
0.4767282628517614,
|
| 143 |
+
-0.8749046796507816
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_21": {
|
| 148 |
+
"confidence": 0.9828128218650818,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.01198272779583931,
|
| 151 |
+
0.1098079892253736,
|
| 152 |
+
-0.056495132856070995
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.04531567578580993,
|
| 156 |
+
"xyz": [
|
| 157 |
+
-0.04564934256082834,
|
| 158 |
+
0.49412301822329585,
|
| 159 |
+
-0.867009267490112
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_22": {
|
| 164 |
+
"confidence": 0.9823192954063416,
|
| 165 |
+
"position": [
|
| 166 |
+
0.008478484116494656,
|
| 167 |
+
0.021954727024422027,
|
| 168 |
+
-0.10632925760000944
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
+
"w": 0.02412879613893986,
|
| 172 |
+
"xyz": [
|
| 173 |
+
0.026305244558447852,
|
| 174 |
+
0.014479166517288866,
|
| 175 |
+
-0.999257819105045
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_24": {
|
| 180 |
+
"confidence": 0.9822167158126831,
|
| 181 |
+
"position": [
|
| 182 |
+
-0.009946123696863651,
|
| 183 |
+
0.12181775145290885,
|
| 184 |
+
0.00293011125177145
|
| 185 |
+
],
|
| 186 |
+
"orientation": {
|
| 187 |
+
"w": 0.05334438169987417,
|
| 188 |
+
"xyz": [
|
| 189 |
+
-0.02247078149136937,
|
| 190 |
+
0.7067911666335637,
|
| 191 |
+
-0.7050501313303835
|
| 192 |
+
]
|
| 193 |
+
}
|
| 194 |
+
},
|
| 195 |
+
"grasp_25": {
|
| 196 |
+
"confidence": 0.9819481372833252,
|
| 197 |
+
"position": [
|
| 198 |
+
0.007844073697924614,
|
| 199 |
+
0.12172432862280402,
|
| 200 |
+
0.0018573179841041565
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.7069190781776036,
|
| 204 |
+
"xyz": [
|
| 205 |
+
0.7061088843860285,
|
| 206 |
+
-0.0396591198370112,
|
| 207 |
+
-0.01013974917834343
|
| 208 |
+
]
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"grasp_26": {
|
| 212 |
+
"confidence": 0.9818522930145264,
|
| 213 |
+
"position": [
|
| 214 |
+
-0.0017646870110183954,
|
| 215 |
+
0.12485474221466575,
|
| 216 |
+
0.0015690112486481667
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.03460177438521206,
|
| 220 |
+
"xyz": [
|
| 221 |
+
0.004743482466960582,
|
| 222 |
+
0.705398105051286,
|
| 223 |
+
-0.70795037253577
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"grasp_27": {
|
| 228 |
+
"confidence": 0.9818143248558044,
|
| 229 |
+
"position": [
|
| 230 |
+
-0.001333120046183467,
|
| 231 |
+
0.12218002848385368,
|
| 232 |
+
0.006161334924399853
|
| 233 |
+
],
|
| 234 |
+
"orientation": {
|
| 235 |
+
"w": 0.08000987885119294,
|
| 236 |
+
"xyz": [
|
| 237 |
+
0.061972963803641846,
|
| 238 |
+
0.7139947033642114,
|
| 239 |
+
-0.692798191836166
|
| 240 |
+
]
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"grasp_28": {
|
| 244 |
+
"confidence": 0.9815434813499451,
|
| 245 |
+
"position": [
|
| 246 |
+
0.005846249870955944,
|
| 247 |
+
0.12105007343052421,
|
| 248 |
+
0.004899610765278339
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
+
"w": 0.6953379564820565,
|
| 252 |
+
"xyz": [
|
| 253 |
+
0.7182761970037559,
|
| 254 |
+
-0.02374339772304135,
|
| 255 |
+
-0.004547764037984475
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"grasp_29": {
|
| 260 |
+
"confidence": 0.9814243912696838,
|
| 261 |
+
"position": [
|
| 262 |
+
0.0027470216155052185,
|
| 263 |
+
0.11261403434036765,
|
| 264 |
+
-0.04371761064976454
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.046477097690234975,
|
| 268 |
+
"xyz": [
|
| 269 |
+
0.015729490372239797,
|
| 270 |
+
0.5139916988061513,
|
| 271 |
+
-0.8563906795857185
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_30": {
|
| 276 |
+
"confidence": 0.9810304641723633,
|
| 277 |
+
"position": [
|
| 278 |
+
-0.011608458124101162,
|
| 279 |
+
0.12106352172850166,
|
| 280 |
+
0.007826169487088919
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.051539784954648935,
|
| 284 |
+
"xyz": [
|
| 285 |
+
-0.0387120859571061,
|
| 286 |
+
0.7148065627493825,
|
| 287 |
+
-0.6963451750519216
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_32": {
|
| 292 |
+
"confidence": 0.9807916283607483,
|
| 293 |
+
"position": [
|
| 294 |
+
0.003912533633410931,
|
| 295 |
+
0.11937093608139548,
|
| 296 |
+
-0.01396551076322794
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.06590278857070955,
|
| 300 |
+
"xyz": [
|
| 301 |
+
0.04761315132604371,
|
| 302 |
+
0.6675599713649911,
|
| 303 |
+
-0.7401037055106391
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_33": {
|
| 308 |
+
"confidence": 0.9806947708129883,
|
| 309 |
+
"position": [
|
| 310 |
+
0.005865142680704594,
|
| 311 |
+
-0.028112641870393418,
|
| 312 |
+
-0.10406541358679533
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.9834282691033562,
|
| 316 |
+
"xyz": [
|
| 317 |
+
-0.17905351954209073,
|
| 318 |
+
-0.01654424200960969,
|
| 319 |
+
-0.02312930444898138
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_34": {
|
| 324 |
+
"confidence": 0.980620801448822,
|
| 325 |
+
"position": [
|
| 326 |
+
-0.009168037679046392,
|
| 327 |
+
0.11839210115431342,
|
| 328 |
+
0.0065990351140499115
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.04006524506946002,
|
| 332 |
+
"xyz": [
|
| 333 |
+
-0.03478070407171762,
|
| 334 |
+
0.7164333153025872,
|
| 335 |
+
-0.6956352373811598
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_35": {
|
| 340 |
+
"confidence": 0.9804510474205017,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.013719233684241772,
|
| 343 |
+
0.07439371816872153,
|
| 344 |
+
-0.09171970468014479
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.047944830021915304,
|
| 348 |
+
"xyz": [
|
| 349 |
+
-0.057315013545725636,
|
| 350 |
+
0.2646911571903303,
|
| 351 |
+
-0.9614337594455828
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
},
|
| 355 |
+
"grasp_37": {
|
| 356 |
+
"confidence": 0.9803059101104736,
|
| 357 |
+
"position": [
|
| 358 |
+
0.004311432130634785,
|
| 359 |
+
0.01013521350978408,
|
| 360 |
+
-0.10769042652100325
|
| 361 |
+
],
|
| 362 |
+
"orientation": {
|
| 363 |
+
"w": 0.9991912746101415,
|
| 364 |
+
"xyz": [
|
| 365 |
+
0.005734536453346267,
|
| 366 |
+
0.0002454737495779513,
|
| 367 |
+
-0.03979763280981179
|
| 368 |
+
]
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
"grasp_39": {
|
| 372 |
+
"confidence": 0.9801222085952759,
|
| 373 |
+
"position": [
|
| 374 |
+
0.0009979107417166233,
|
| 375 |
+
0.009573901668773033,
|
| 376 |
+
-0.1082798121497035
|
| 377 |
+
],
|
| 378 |
+
"orientation": {
|
| 379 |
+
"w": 0.9993012922298676,
|
| 380 |
+
"xyz": [
|
| 381 |
+
0.002227291645302523,
|
| 382 |
+
0.004786614873670381,
|
| 383 |
+
-0.03700074104250949
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
}
|
| 388 |
+
},
|
| 389 |
+
{
|
| 390 |
+
"part_name": "top rim",
|
| 391 |
+
"mask_color": "Orange",
|
| 392 |
+
"graspable": false,
|
| 393 |
+
"grasp_scenarios": [],
|
| 394 |
+
"functional_labels": [
|
| 395 |
+
"support the opening",
|
| 396 |
+
"seat the lid",
|
| 397 |
+
"frame the floss outlet area",
|
| 398 |
+
"protect the compartment edge"
|
| 399 |
+
],
|
| 400 |
+
"semantic_description": "Mint-green plastic rim around the top opening with a smooth semi-gloss surface, thin continuous border, and shallow recessed geometry just below the lid.",
|
| 401 |
+
"id": 4,
|
| 402 |
+
"grasp_group": {}
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"part_name": "cutter blade",
|
| 406 |
+
"mask_color": "Red",
|
| 407 |
+
"graspable": false,
|
| 408 |
+
"grasp_scenarios": [],
|
| 409 |
+
"functional_labels": [
|
| 410 |
+
"cut floss",
|
| 411 |
+
"provide a tearing edge",
|
| 412 |
+
"enable length separation"
|
| 413 |
+
],
|
| 414 |
+
"semantic_description": "Small silver metal blade with a reflective finish and fine serrations, mounted across the top opening near the front edge for cutting dispensed floss.",
|
| 415 |
+
"id": 0,
|
| 416 |
+
"grasp_group": {}
|
| 417 |
+
},
|
| 418 |
+
{
|
| 419 |
+
"part_name": "front latch tab",
|
| 420 |
+
"mask_color": "Teal",
|
| 421 |
+
"graspable": true,
|
| 422 |
+
"grasp_scenarios": [
|
| 423 |
+
{
|
| 424 |
+
"scenario": "pinch the front tab to pry or lift the lid open",
|
| 425 |
+
"confidence": 0.58
|
| 426 |
+
}
|
| 427 |
+
],
|
| 428 |
+
"functional_labels": [
|
| 429 |
+
"provide lid opening point",
|
| 430 |
+
"help latch and release the lid",
|
| 431 |
+
"indicate front orientation"
|
| 432 |
+
],
|
| 433 |
+
"semantic_description": "Small mint-green plastic tab at the front center below the lid, with a smooth hard surface and shallow protruding shape used as the opening catch.",
|
| 434 |
+
"id": 10,
|
| 435 |
+
"grasp_group": {}
|
| 436 |
+
}
|
| 437 |
+
],
|
| 438 |
+
"quality_check": {
|
| 439 |
+
"success": true,
|
| 440 |
+
"message": "YES"
|
| 441 |
+
}
|
| 442 |
+
}
|
dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30f21bad6386f1dfae81e20e8f105824e65b81e72676f7e2b7c62f7d2aba867e
|
| 3 |
+
size 3781780
|
dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/dental_floss_034.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>
|