Add asset bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/affordance/affordance_annot.json +415 -0
- dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5734,4 +5734,4 @@ dataset/bathroom_supplies/personal_care/0ab77ddb60f655e1b864970c74941f66/afforda
|
|
| 5734 |
dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5735 |
dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5737 |
-
dataset/bathroom_supplies/personal_care/
|
|
|
|
| 5734 |
dataset/bathroom_supplies/personal_care/0b26dafeb4fa515d8b4bee10cc0047c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5735 |
dataset/bathroom_supplies/personal_care/0be0cf6258fe572bb27e0bc2d7c8ab36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5736 |
dataset/bathroom_supplies/personal_care/0c098f07e5af512c8729265f4b34f58a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5737 |
+
dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,415 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the container",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while pressing the pump with another hand or tool",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body during dispensing",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"provide structural shell"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large dark gray plastic bottle body with a smooth slightly glossy finish, a bulbous lower half, and a narrower neck, occupying most of the object. Small printed markings are visible on the front/side in some views.",
|
| 29 |
+
"id": 8,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9011684060096741,
|
| 33 |
+
"position": [
|
| 34 |
+
0.023867391370004043,
|
| 35 |
+
0.0911694068054203,
|
| 36 |
+
0.06529621314257383
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.07606597977636267,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.07326781199170855,
|
| 42 |
+
-0.7006429942327436,
|
| 43 |
+
0.7056523145850128
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9742012023925781,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.05957066235714592,
|
| 51 |
+
0.07626605514087714,
|
| 52 |
+
0.06555654387921095
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.673779643687021,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.6584455091950188,
|
| 58 |
+
0.2616754301398966,
|
| 59 |
+
0.2097533609623536
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9761057496070862,
|
| 65 |
+
"position": [
|
| 66 |
+
0.07611241223639809,
|
| 67 |
+
-0.07110195871791802,
|
| 68 |
+
0.06076883431524038
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.2802852968851078,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.28315101798483455,
|
| 74 |
+
-0.6253357155274086,
|
| 75 |
+
-0.6709850193931324
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_23": {
|
| 80 |
+
"confidence": 0.9494612812995911,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.027138622157508507,
|
| 83 |
+
0.0910623345116619,
|
| 84 |
+
0.07578883972018957
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.12393019970372353,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.07219943782572771,
|
| 90 |
+
0.7417174933646921,
|
| 91 |
+
-0.6551974563563584
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.8999547958374023,
|
| 97 |
+
"position": [
|
| 98 |
+
0.10212559284991585,
|
| 99 |
+
-0.0007137696957215667,
|
| 100 |
+
0.06835465785115957
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4639753217923712,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5355917045355181,
|
| 106 |
+
-0.4728359215593677,
|
| 107 |
+
0.5237314369822648
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
+
"confidence": 0.6956130862236023,
|
| 113 |
+
"position": [
|
| 114 |
+
0.09525274517363869,
|
| 115 |
+
0.017908401001477614,
|
| 116 |
+
0.07198934908956289
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.40811192457867335,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.49395289191369113,
|
| 122 |
+
-0.5399907283281398,
|
| 123 |
+
0.5457702913373325
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_26": {
|
| 128 |
+
"confidence": 0.9436857104301453,
|
| 129 |
+
"position": [
|
| 130 |
+
0.052200485341018066,
|
| 131 |
+
-0.08170157935819589,
|
| 132 |
+
0.09690200444310904
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.13860348213743204,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.2520611005379143,
|
| 138 |
+
-0.773164545795832,
|
| 139 |
+
-0.5652175346353994
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"part_name": "pump dispenser",
|
| 147 |
+
"mask_color": "Green",
|
| 148 |
+
"graspable": true,
|
| 149 |
+
"grasp_scenarios": [
|
| 150 |
+
{
|
| 151 |
+
"scenario": "press the pump head to dispense product",
|
| 152 |
+
"confidence": 0.94
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"scenario": "lightly grip the pump head or collar to turn or reposition the dispenser",
|
| 156 |
+
"confidence": 0.52
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"scenario": "hold the pump assembly gently during maintenance or transport stabilization",
|
| 160 |
+
"confidence": 0.4
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"functional_labels": [
|
| 164 |
+
"dispense liquid product",
|
| 165 |
+
"press to pump product out",
|
| 166 |
+
"provide outlet control",
|
| 167 |
+
"seal the container opening"
|
| 168 |
+
],
|
| 169 |
+
"semantic_description": "Small dark gray plastic pump assembly at the top, with a smooth slightly glossy finish. It includes a curved pump head/nozzle and a short cylindrical collar beneath it.",
|
| 170 |
+
"id": 1,
|
| 171 |
+
"grasp_group": {
|
| 172 |
+
"grasp_0": {
|
| 173 |
+
"confidence": 0.9777723550796509,
|
| 174 |
+
"position": [
|
| 175 |
+
-0.09559027073555626,
|
| 176 |
+
-0.03232291978201829,
|
| 177 |
+
0.07125046383589506
|
| 178 |
+
],
|
| 179 |
+
"orientation": {
|
| 180 |
+
"w": 0.43693447548714287,
|
| 181 |
+
"xyz": [
|
| 182 |
+
0.3808455731773346,
|
| 183 |
+
0.5892570799374737,
|
| 184 |
+
0.5628685523864028
|
| 185 |
+
]
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
"grasp_2": {
|
| 189 |
+
"confidence": 0.9755943417549133,
|
| 190 |
+
"position": [
|
| 191 |
+
-0.09062197027378716,
|
| 192 |
+
0.03204431492486037,
|
| 193 |
+
0.0766996880993247
|
| 194 |
+
],
|
| 195 |
+
"orientation": {
|
| 196 |
+
"w": 0.4242025742883142,
|
| 197 |
+
"xyz": [
|
| 198 |
+
-0.37761101109246087,
|
| 199 |
+
0.613983263012688,
|
| 200 |
+
-0.5481666288722697
|
| 201 |
+
]
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
"grasp_4": {
|
| 205 |
+
"confidence": 0.9712294936180115,
|
| 206 |
+
"position": [
|
| 207 |
+
-0.07706434992724098,
|
| 208 |
+
0.06638486418523826,
|
| 209 |
+
0.06983625795692205
|
| 210 |
+
],
|
| 211 |
+
"orientation": {
|
| 212 |
+
"w": 0.3129857608134516,
|
| 213 |
+
"xyz": [
|
| 214 |
+
-0.2692447120790464,
|
| 215 |
+
0.659352520003889,
|
| 216 |
+
-0.6283322790610215
|
| 217 |
+
]
|
| 218 |
+
}
|
| 219 |
+
},
|
| 220 |
+
"grasp_6": {
|
| 221 |
+
"confidence": 0.9700979590415955,
|
| 222 |
+
"position": [
|
| 223 |
+
-0.09034880218678154,
|
| 224 |
+
0.03567332509555854,
|
| 225 |
+
0.0706366216763854
|
| 226 |
+
],
|
| 227 |
+
"orientation": {
|
| 228 |
+
"w": 0.398339395501063,
|
| 229 |
+
"xyz": [
|
| 230 |
+
-0.3689235049846829,
|
| 231 |
+
0.6149883029367919,
|
| 232 |
+
-0.5718483721342476
|
| 233 |
+
]
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
"grasp_7": {
|
| 237 |
+
"confidence": 0.9682775735855103,
|
| 238 |
+
"position": [
|
| 239 |
+
-0.0925711166637484,
|
| 240 |
+
-0.022888566221809015,
|
| 241 |
+
0.08582094963639975
|
| 242 |
+
],
|
| 243 |
+
"orientation": {
|
| 244 |
+
"w": 0.4428819777592465,
|
| 245 |
+
"xyz": [
|
| 246 |
+
0.4302722120215068,
|
| 247 |
+
0.5802981335864207,
|
| 248 |
+
0.5310136095189034
|
| 249 |
+
]
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
"grasp_10": {
|
| 253 |
+
"confidence": 0.9666585922241211,
|
| 254 |
+
"position": [
|
| 255 |
+
-0.09339342234306969,
|
| 256 |
+
-0.02590456311008893,
|
| 257 |
+
0.06848354917019606
|
| 258 |
+
],
|
| 259 |
+
"orientation": {
|
| 260 |
+
"w": 0.4658663787548979,
|
| 261 |
+
"xyz": [
|
| 262 |
+
0.3874912553072943,
|
| 263 |
+
0.5907140384877844,
|
| 264 |
+
0.532800121001889
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"grasp_12": {
|
| 269 |
+
"confidence": 0.964762270450592,
|
| 270 |
+
"position": [
|
| 271 |
+
-0.05933110011392273,
|
| 272 |
+
-0.0794616591592785,
|
| 273 |
+
0.07317037787288427
|
| 274 |
+
],
|
| 275 |
+
"orientation": {
|
| 276 |
+
"w": 0.24401608864562396,
|
| 277 |
+
"xyz": [
|
| 278 |
+
0.21755374712932896,
|
| 279 |
+
0.6736990547674896,
|
| 280 |
+
0.6627639845355733
|
| 281 |
+
]
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"grasp_14": {
|
| 285 |
+
"confidence": 0.964024543762207,
|
| 286 |
+
"position": [
|
| 287 |
+
-0.0815467533248011,
|
| 288 |
+
-0.059446907456731424,
|
| 289 |
+
0.07847236003726721
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.6454459011127536,
|
| 293 |
+
"xyz": [
|
| 294 |
+
-0.6076521782428532,
|
| 295 |
+
0.36092844718915673,
|
| 296 |
+
-0.28963610794078504
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"grasp_15": {
|
| 301 |
+
"confidence": 0.9635359048843384,
|
| 302 |
+
"position": [
|
| 303 |
+
-0.08095460353069939,
|
| 304 |
+
0.02698584194877185,
|
| 305 |
+
0.13082983996719122
|
| 306 |
+
],
|
| 307 |
+
"orientation": {
|
| 308 |
+
"w": 0.30116329899877486,
|
| 309 |
+
"xyz": [
|
| 310 |
+
-0.4632582723346536,
|
| 311 |
+
0.7332399421247328,
|
| 312 |
+
-0.3962973980770065
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"grasp_16": {
|
| 317 |
+
"confidence": 0.9626712799072266,
|
| 318 |
+
"position": [
|
| 319 |
+
0.029015170730417594,
|
| 320 |
+
0.09458934250869788,
|
| 321 |
+
0.06863511260598898
|
| 322 |
+
],
|
| 323 |
+
"orientation": {
|
| 324 |
+
"w": 0.11392547944677928,
|
| 325 |
+
"xyz": [
|
| 326 |
+
-0.09659914545438988,
|
| 327 |
+
-0.7021118587478143,
|
| 328 |
+
0.6962244810662669
|
| 329 |
+
]
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"grasp_17": {
|
| 333 |
+
"confidence": 0.9616826772689819,
|
| 334 |
+
"position": [
|
| 335 |
+
-0.09393864092999138,
|
| 336 |
+
0.018358097557211295,
|
| 337 |
+
0.07314542960375547
|
| 338 |
+
],
|
| 339 |
+
"orientation": {
|
| 340 |
+
"w": 0.5612020971705668,
|
| 341 |
+
"xyz": [
|
| 342 |
+
0.5233811834226939,
|
| 343 |
+
0.4828604145401906,
|
| 344 |
+
0.42186510052443676
|
| 345 |
+
]
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"grasp_18": {
|
| 349 |
+
"confidence": 0.9614461660385132,
|
| 350 |
+
"position": [
|
| 351 |
+
-0.08962466535740532,
|
| 352 |
+
0.03149433169164695,
|
| 353 |
+
0.09128391649574041
|
| 354 |
+
],
|
| 355 |
+
"orientation": {
|
| 356 |
+
"w": 0.5649814368352365,
|
| 357 |
+
"xyz": [
|
| 358 |
+
0.5936618704463656,
|
| 359 |
+
0.47707191722350917,
|
| 360 |
+
0.3174333716016632
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"grasp_19": {
|
| 365 |
+
"confidence": 0.9605198502540588,
|
| 366 |
+
"position": [
|
| 367 |
+
-0.08303701100521721,
|
| 368 |
+
-0.020999980013584718,
|
| 369 |
+
0.1258327653631568
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.324861770003231,
|
| 373 |
+
"xyz": [
|
| 374 |
+
0.5096737439765151,
|
| 375 |
+
0.693390822652698,
|
| 376 |
+
0.39230940869719605
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
}
|
| 380 |
+
}
|
| 381 |
+
},
|
| 382 |
+
{
|
| 383 |
+
"part_name": "label patch",
|
| 384 |
+
"mask_color": "Orange",
|
| 385 |
+
"graspable": false,
|
| 386 |
+
"grasp_scenarios": [],
|
| 387 |
+
"functional_labels": [
|
| 388 |
+
"display branding",
|
| 389 |
+
"provide product information",
|
| 390 |
+
"indicate front orientation"
|
| 391 |
+
],
|
| 392 |
+
"semantic_description": "Small curved sticker or printed label area near the upper shoulder/front-side of the bottle, appearing blue with white markings in the RGB image and conforming closely to the bottle surface.",
|
| 393 |
+
"id": 4,
|
| 394 |
+
"grasp_group": {}
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"part_name": "bottom base",
|
| 398 |
+
"mask_color": "Purple",
|
| 399 |
+
"graspable": false,
|
| 400 |
+
"grasp_scenarios": [],
|
| 401 |
+
"functional_labels": [
|
| 402 |
+
"support standing",
|
| 403 |
+
"stabilize the bottle upright",
|
| 404 |
+
"form the contact surface with a table"
|
| 405 |
+
],
|
| 406 |
+
"semantic_description": "Rounded oval base on the underside of the bottle, dark gray plastic with a smooth slightly recessed finish and hard surface, sized to support the wider bottom.",
|
| 407 |
+
"id": 5,
|
| 408 |
+
"grasp_group": {}
|
| 409 |
+
}
|
| 410 |
+
],
|
| 411 |
+
"quality_check": {
|
| 412 |
+
"success": false,
|
| 413 |
+
"message": "Bottle body color and label description are inaccurate; label is purple/blue and body appears black, not dark gray."
|
| 414 |
+
}
|
| 415 |
+
}
|
dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f19303f37414335888c5f7331c102d97e9f18274dab57496e1dd46f93b73c6b6
|
| 3 |
+
size 3756584
|
dataset/bathroom_supplies/personal_care/0e80f605a8b259ef9d5678238baf59c0/toothpaste_024.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>
|