Add asset bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/affordance/affordance_annot.json +416 -0
- dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/razor_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -5819,3 +5819,4 @@ dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/afforda
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
+
dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,416 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "razor handle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the razor for shaving",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to orient the razor head against a surface",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the razor while placing or retrieving it",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip",
|
| 23 |
+
"support manipulation",
|
| 24 |
+
"position the razor head",
|
| 25 |
+
"provide reach",
|
| 26 |
+
"stabilize during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long slightly curved black-and-white plastic handle with a mostly matte to semi-gloss smooth hard surface, medium thickness, and an ergonomic tapered shape extending below the razor head.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9890875816345215,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.07614989625569386,
|
| 40 |
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"xyz": [
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| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9881268739700317,
|
| 49 |
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"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.05727726472893303,
|
| 56 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9871386885643005,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.6873590448830095,
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| 72 |
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"xyz": [
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9870834350585938,
|
| 81 |
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"position": [
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| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.0373504998918095,
|
| 88 |
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"xyz": [
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| 89 |
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| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9867503046989441,
|
| 97 |
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"position": [
|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
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| 103 |
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"w": 0.014843827744754214,
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| 104 |
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"xyz": [
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| 108 |
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]
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| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_6": {
|
| 112 |
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"confidence": 0.986117422580719,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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| 116 |
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| 117 |
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],
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"orientation": {
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| 119 |
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"w": 0.023340922066590535,
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| 120 |
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"xyz": [
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| 123 |
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| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_7": {
|
| 128 |
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"confidence": 0.9854802489280701,
|
| 129 |
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"position": [
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| 130 |
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| 132 |
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],
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"orientation": {
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"w": 0.7291153056167252,
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| 136 |
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]
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| 141 |
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}
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| 142 |
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},
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| 143 |
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"grasp_8": {
|
| 144 |
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"confidence": 0.9854624271392822,
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| 145 |
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"position": [
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],
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| 150 |
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"orientation": {
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"w": 0.043335167560683216,
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"xyz": [
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| 155 |
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| 156 |
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]
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| 157 |
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}
|
| 158 |
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},
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| 159 |
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"grasp_9": {
|
| 160 |
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"confidence": 0.9845937490463257,
|
| 161 |
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"position": [
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| 164 |
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| 165 |
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],
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| 166 |
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"orientation": {
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| 167 |
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"w": 0.0632048796004691,
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| 168 |
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"xyz": [
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| 171 |
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]
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}
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| 174 |
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},
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| 175 |
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"grasp_12": {
|
| 176 |
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"confidence": 0.9837278127670288,
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| 177 |
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"position": [
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| 180 |
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dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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version https://git-lfs.github.com/spec/v1
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oid sha256:39694993861f753a8965a29d56331a58e33752a9e77efcd8bc04fbe4c9315154
|
| 3 |
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size 3783948
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dataset/bathroom_supplies/personal_care/b61fbe9614955da5854549727d1ebfc2/razor_001.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>
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|
| 55 |
</affordance>
|
| 56 |
<quality>
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| 57 |
<PartSegChecker>YES</PartSegChecker>
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|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
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</geometry>
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| 54 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
<quality>
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| 58 |
<PartSegChecker>YES</PartSegChecker>
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