Add asset bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/affordance_annot.json +451 -0
- dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/razor_030.urdf +1 -0
.gitattributes
CHANGED
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@@ -5773,4 +5773,4 @@ dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/afforda
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| 5773 |
dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5774 |
dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
-
dataset/bathroom_supplies/personal_care/
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| 5773 |
dataset/bathroom_supplies/personal_care/38cddd749c5b547cb29252e711fee4ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5774 |
dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
+
dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,451 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "shaver head housing",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"support the rotary cutters",
|
| 10 |
+
"position the shaving heads",
|
| 11 |
+
"cover internal head mechanism",
|
| 12 |
+
"guide contact with skin"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Triangular beige plastic top housing with a smooth matte finish and hard surface, medium-sized at the razor tip, surrounding the three rotary shaving heads.",
|
| 15 |
+
"id": 3,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "razor handle",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and hold the razor during use",
|
| 25 |
+
"confidence": 0.97
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "grasp the handle to orient the shaver head toward a target surface",
|
| 29 |
+
"confidence": 0.94
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to place the razor onto a surface or stand it upright on its bottom support",
|
| 33 |
+
"confidence": 0.84
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"main grip",
|
| 38 |
+
"support handling",
|
| 39 |
+
"orient the shaving head",
|
| 40 |
+
"house internal components"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Long tapered black side and rear handle section with a mostly matte finish and smooth hard surface, forming the main central body below the head and above the bottom support.",
|
| 43 |
+
"id": 2,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_0": {
|
| 46 |
+
"confidence": 0.9743829369544983,
|
| 47 |
+
"position": [
|
| 48 |
+
0.10121176962275058,
|
| 49 |
+
-0.03472666495508747,
|
| 50 |
+
-0.01351578813046217
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.5717318184282806,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.5783770445381663,
|
| 56 |
+
-0.4058367162296652,
|
| 57 |
+
0.41701232824451356
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_1": {
|
| 62 |
+
"confidence": 0.9740933179855347,
|
| 63 |
+
"position": [
|
| 64 |
+
0.01890409749466926,
|
| 65 |
+
-0.10079996340937214,
|
| 66 |
+
-0.018310694955289364
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.6965540798265518,
|
| 70 |
+
"xyz": [
|
| 71 |
+
-0.7100181915383105,
|
| 72 |
+
-0.08692058847567463,
|
| 73 |
+
0.05595884970846589
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_2": {
|
| 78 |
+
"confidence": 0.9740666151046753,
|
| 79 |
+
"position": [
|
| 80 |
+
0.11090119008440524,
|
| 81 |
+
-0.01949166559643345,
|
| 82 |
+
-0.01921295654028654
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.4865175907863392,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.4231453270991705,
|
| 88 |
+
-0.5489569289162852,
|
| 89 |
+
-0.5318787044095608
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_3": {
|
| 94 |
+
"confidence": 0.9738187193870544,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.01799614157062024,
|
| 97 |
+
0.10059115982585354,
|
| 98 |
+
-0.022902456112205982
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.07795554931218894,
|
| 102 |
+
"xyz": [
|
| 103 |
+
-0.058085068268027805,
|
| 104 |
+
0.6981252182465463,
|
| 105 |
+
-0.7093449350097207
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_4": {
|
| 110 |
+
"confidence": 0.9738140106201172,
|
| 111 |
+
"position": [
|
| 112 |
+
0.000593547971220687,
|
| 113 |
+
0.10439016616874142,
|
| 114 |
+
-0.02857030089944601
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.7284453171392979,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.6850455369229843,
|
| 120 |
+
-0.0030706837757309424,
|
| 121 |
+
0.008402569897218567
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_5": {
|
| 126 |
+
"confidence": 0.973617672920227,
|
| 127 |
+
"position": [
|
| 128 |
+
0.10828278039116412,
|
| 129 |
+
-0.010522724660404492,
|
| 130 |
+
-0.02655935939401388
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.5066402359034854,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.45067953888918333,
|
| 136 |
+
-0.5189466894678227,
|
| 137 |
+
-0.5204785856120114
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_6": {
|
| 142 |
+
"confidence": 0.9730342626571655,
|
| 143 |
+
"position": [
|
| 144 |
+
0.006201184471137822,
|
| 145 |
+
0.10390952921443386,
|
| 146 |
+
-0.01929945033043623
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.7240557964731922,
|
| 150 |
+
"xyz": [
|
| 151 |
+
0.6894807063607805,
|
| 152 |
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-0.01697100042988864,
|
| 153 |
+
-0.008458386029216303
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_7": {
|
| 158 |
+
"confidence": 0.972934901714325,
|
| 159 |
+
"position": [
|
| 160 |
+
-0.015183962765149772,
|
| 161 |
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0.1016029412203352,
|
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dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3783240
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dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/razor_030.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>
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|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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