Add asset bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/affordance/affordance_annot.json +294 -0
- dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/comb_025.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5728,3 +5728,4 @@ dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/afforda
|
|
| 5728 |
dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5729 |
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5730 |
dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5728 |
dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5729 |
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5730 |
dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5731 |
+
dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,294 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle end to pick up and manipulate the comb",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the wider spine area to stabilize the comb during use or handoff",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the comb body to reorient it before combing",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main grip",
|
| 23 |
+
"support the teeth",
|
| 24 |
+
"comb and separate hair",
|
| 25 |
+
"orient the tool during grooming",
|
| 26 |
+
"transfer force during brushing"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "One-piece small comb with a curved green wood-like body, smooth semi-gloss hard surface, visible brown natural grain streaks and gold markings, featuring a rounded handle end and a wider toothed head.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9789358377456665,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.1342704393900931,
|
| 35 |
+
-5.159527063369751e-07,
|
| 36 |
+
0.00395838767872192
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6912303185304477,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.05208608044513916,
|
| 42 |
+
0.7207309108444073,
|
| 43 |
+
0.005885670866581889
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9787303805351257,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.12588090682402253,
|
| 51 |
+
-0.053772817365825176,
|
| 52 |
+
-0.0003262293175794184
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.6827658341158591,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.13637668798213498,
|
| 58 |
+
0.6928341086481141,
|
| 59 |
+
0.1876515724231261
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9786483645439148,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.12117381626740098,
|
| 67 |
+
-0.056872705928981304,
|
| 68 |
+
-0.0009656706533860415
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6863174987415046,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.14877908377402263,
|
| 74 |
+
0.6867890713122891,
|
| 75 |
+
0.1874935910333224
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9783403277397156,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.1323056765832007,
|
| 83 |
+
0.006494529545307159,
|
| 84 |
+
0.004781529685715213
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6922157533778905,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.06741595577639141,
|
| 90 |
+
0.7184826839926907,
|
| 91 |
+
-0.00866443794448265
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9782857894897461,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.1306799747981131,
|
| 99 |
+
-0.02791109960526228,
|
| 100 |
+
-0.005239161284407601
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7120689417970847,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.04194231332110291,
|
| 106 |
+
0.6954175082798218,
|
| 107 |
+
0.08713870356585554
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9781771898269653,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.09261279786005616,
|
| 115 |
+
-0.09193438198417425,
|
| 116 |
+
-0.005646314093610272
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6378593136533839,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.30896625353204116,
|
| 122 |
+
0.6128197411780656,
|
| 123 |
+
0.34946718728151965
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9781348705291748,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.10902925813570619,
|
| 131 |
+
-0.08361221011728048,
|
| 132 |
+
-0.0034666316059883684
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6498915048722478,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.246306603304746,
|
| 138 |
+
0.6529974919647974,
|
| 139 |
+
0.30094578340798817
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.978071928024292,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.1351343193091452,
|
| 147 |
+
-0.0014821379445493221,
|
| 148 |
+
0.004192448599496856
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6889570979796166,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.051537803174163684,
|
| 154 |
+
0.7228985740936433,
|
| 155 |
+
0.009981160296460557
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9779309034347534,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.12384750181809068,
|
| 163 |
+
-0.05611890833824873,
|
| 164 |
+
0.00022553408052772284
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.6764002632696099,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.14759023599100538,
|
| 170 |
+
0.6953683379955289,
|
| 171 |
+
0.19277624491170547
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.9777793884277344,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.13166897976770997,
|
| 179 |
+
1.6200821846723557e-05,
|
| 180 |
+
0.005289227148750797
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.6831801984005494,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.049052890358802934,
|
| 186 |
+
0.7285456100711668,
|
| 187 |
+
0.008940050719362568
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9776903986930847,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.12206226820126176,
|
| 195 |
+
-0.057899690233170986,
|
| 196 |
+
0.0008924970461521298
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.6712292312172917,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.15056817440799097,
|
| 202 |
+
0.69887429820089,
|
| 203 |
+
0.1958449880111881
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9776819348335266,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.1320705064572394,
|
| 211 |
+
0.001550725195556879,
|
| 212 |
+
0.0012701264640782028
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6967564402744316,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.04268252549297647,
|
| 218 |
+
0.7160362038382804,
|
| 219 |
+
0.0009053985355098218
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9774328470230103,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.1351006724871695,
|
| 227 |
+
0.0018575731664896011,
|
| 228 |
+
0.0033384777198079973
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.6912173161128397,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.050386323929664245,
|
| 234 |
+
0.7208419426900252,
|
| 235 |
+
0.00816908351580114
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_14": {
|
| 240 |
+
"confidence": 0.9771798253059387,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.13551257038488984,
|
| 243 |
+
0.0026552993804216385,
|
| 244 |
+
-0.00032781861955299973
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.03454386536279922,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.7061436125919526,
|
| 250 |
+
-0.036732288559941706,
|
| 251 |
+
0.7062709527784168
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_18": {
|
| 256 |
+
"confidence": 0.9766380786895752,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.09556599939242005,
|
| 259 |
+
-0.09363103564828634,
|
| 260 |
+
-0.00167254960979335
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.6241789196795392,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.31709900148849174,
|
| 266 |
+
0.6251969916483806,
|
| 267 |
+
0.34493132811691557
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_19": {
|
| 272 |
+
"confidence": 0.9764559268951416,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.1352612623013556,
|
| 275 |
+
-0.00311918678926304,
|
| 276 |
+
-0.0024452585203107446
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.7084001766533975,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.04472416122025228,
|
| 282 |
+
0.7043926000653392,
|
| 283 |
+
6.398258770630872e-05
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
}
|
| 289 |
+
],
|
| 290 |
+
"quality_check": {
|
| 291 |
+
"success": true,
|
| 292 |
+
"message": "YES"
|
| 293 |
+
}
|
| 294 |
+
}
|
dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f6badd7704d48d3550b4b7ac7afc502d66bd417358aae4fbb999cdeebb3b295f
|
| 3 |
+
size 3777008
|
dataset/bathroom_supplies/personal_care/099cf1c081d35fe781460bf1ca272228/comb_025.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>
|