Add asset bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076
Browse files
.gitattributes
CHANGED
|
@@ -5783,3 +5783,4 @@ dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/afforda
|
|
| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5784 |
dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5785 |
dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5784 |
dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5785 |
dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5786 |
+
dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,276 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle/body to pick up and move the comb",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to orient the comb during grooming",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the comb by clamping the broad back from the sides",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"support the bristle pad",
|
| 24 |
+
"transfer grooming force",
|
| 25 |
+
"orient the comb"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "One-piece light lavender to pale blue plastic body with a smooth slightly glossy hard surface, shaped as a short handle merging into an oval back, medium-sized and forming the main structure of the comb.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9662683010101318,
|
| 32 |
+
"position": [
|
| 33 |
+
0.04938479699194431,
|
| 34 |
+
0.09735076395736542,
|
| 35 |
+
-0.005190312163904309
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.46837039479069487,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.49983310310377244,
|
| 41 |
+
0.5003856034230557,
|
| 42 |
+
-0.5295378081045834
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9645655751228333,
|
| 48 |
+
"position": [
|
| 49 |
+
0.08581762947142124,
|
| 50 |
+
0.08924133596883621,
|
| 51 |
+
-0.0031073663849383593
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6107484818636063,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.3737817233831135,
|
| 57 |
+
-0.5936635886478804,
|
| 58 |
+
0.3672016594185942
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.964205265045166,
|
| 64 |
+
"position": [
|
| 65 |
+
0.08604747243225574,
|
| 66 |
+
0.08915066985355224,
|
| 67 |
+
-0.00938863749615848
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6185074688989058,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.37387073319933634,
|
| 73 |
+
-0.5793617951238005,
|
| 74 |
+
0.3768409427386937
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9641812443733215,
|
| 80 |
+
"position": [
|
| 81 |
+
0.020775964483618736,
|
| 82 |
+
-0.10098381074203644,
|
| 83 |
+
-0.00020759482868015766
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.47140968244264786,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5080577083659433,
|
| 89 |
+
0.48297164352654554,
|
| 90 |
+
0.5351529387180227
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9635095596313477,
|
| 96 |
+
"position": [
|
| 97 |
+
0.018602820113301277,
|
| 98 |
+
0.1022924807475647,
|
| 99 |
+
0.007501377956941724
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.4550134345495252,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5129758690840335,
|
| 105 |
+
0.5133503141934845,
|
| 106 |
+
-0.5160329321219489
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9634754657745361,
|
| 112 |
+
"position": [
|
| 113 |
+
0.019635388627648354,
|
| 114 |
+
0.10153737930522766,
|
| 115 |
+
-0.00038807326927781105
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5244101725779039,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.48124321746047083,
|
| 121 |
+
-0.5116124151837229,
|
| 122 |
+
0.4813020602230834
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9632919430732727,
|
| 128 |
+
"position": [
|
| 129 |
+
0.09452998824417591,
|
| 130 |
+
0.08421205250488129,
|
| 131 |
+
-0.002407761523500085
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6208067180917983,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.3650895058528926,
|
| 137 |
+
-0.6057426935288927,
|
| 138 |
+
0.3382077183101292
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.9630595445632935,
|
| 144 |
+
"position": [
|
| 145 |
+
0.08768800087273121,
|
| 146 |
+
0.08724160013662186,
|
| 147 |
+
-0.009270025184378028
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.3640180686904583,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.5804447758621681,
|
| 153 |
+
0.3824213727004925,
|
| 154 |
+
-0.6199424179252918
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.9627721905708313,
|
| 160 |
+
"position": [
|
| 161 |
+
0.022356102243065834,
|
| 162 |
+
-0.10107079627050553,
|
| 163 |
+
0.009846836095675826
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5155496135491077,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.49677603325724706,
|
| 169 |
+
-0.5308448626697876,
|
| 170 |
+
-0.45345992163327364
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_11": {
|
| 175 |
+
"confidence": 0.9625729918479919,
|
| 176 |
+
"position": [
|
| 177 |
+
0.024883244186639786,
|
| 178 |
+
0.10054238406883087,
|
| 179 |
+
-0.0020080057438462973
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.4522723745602389,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.5181088651295173,
|
| 185 |
+
0.4791409948595716,
|
| 186 |
+
-0.5453776765956104
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_14": {
|
| 191 |
+
"confidence": 0.9608294367790222,
|
| 192 |
+
"position": [
|
| 193 |
+
0.08745242841541767,
|
| 194 |
+
0.08703142670856323,
|
| 195 |
+
0.012961657950654626
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.5959754254353596,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.44631481962950675,
|
| 201 |
+
-0.6053352808401872,
|
| 202 |
+
0.2813993102805241
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_15": {
|
| 207 |
+
"confidence": 0.9602281451225281,
|
| 208 |
+
"position": [
|
| 209 |
+
0.010180225595831871,
|
| 210 |
+
0.09932460902200546,
|
| 211 |
+
0.01743127149529755
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.45358015768149595,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.4959909019885379,
|
| 217 |
+
0.5569237435051775,
|
| 218 |
+
-0.48794877766257794
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_17": {
|
| 223 |
+
"confidence": 0.9598661065101624,
|
| 224 |
+
"position": [
|
| 225 |
+
0.019000696018338203,
|
| 226 |
+
0.10209720848069992,
|
| 227 |
+
-0.0011003445833921432
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.4619296199349927,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.504002693102481,
|
| 233 |
+
0.5015567937352807,
|
| 234 |
+
-0.5301349773691081
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_19": {
|
| 239 |
+
"confidence": 0.9588212370872498,
|
| 240 |
+
"position": [
|
| 241 |
+
0.09527950175106525,
|
| 242 |
+
0.08254546193347778,
|
| 243 |
+
-0.006001228233799338
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.6279427878997716,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.35639024704872674,
|
| 249 |
+
-0.6011095376989051,
|
| 250 |
+
0.34255097521481254
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "bristle pad",
|
| 258 |
+
"mask_color": "Green",
|
| 259 |
+
"graspable": false,
|
| 260 |
+
"grasp_scenarios": [],
|
| 261 |
+
"functional_labels": [
|
| 262 |
+
"brush hair",
|
| 263 |
+
"detangle lightly",
|
| 264 |
+
"contact the scalp or hair",
|
| 265 |
+
"provide compliant grooming surface"
|
| 266 |
+
],
|
| 267 |
+
"semantic_description": "Dense cluster of short pink plastic bristles on the oval head, with a matte to satin finish and slightly flexible fine-tipped texture, covering the top grooming surface of the comb.",
|
| 268 |
+
"id": 1,
|
| 269 |
+
"grasp_group": {}
|
| 270 |
+
}
|
| 271 |
+
],
|
| 272 |
+
"quality_check": {
|
| 273 |
+
"success": true,
|
| 274 |
+
"message": "YES"
|
| 275 |
+
}
|
| 276 |
+
}
|
dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f6684519f406f74fb0bb0d5bb687f2722c0202fc1d0edfb8f96757ca24cdb20
|
| 3 |
+
size 3778780
|