Add asset bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/affordance_annot.json +481 -0
- dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/dental_floss_032.urdf +1 -0
.gitattributes
CHANGED
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@@ -5745,3 +5745,4 @@ dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/afforda
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5747 |
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5746 |
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5747 |
dataset/bathroom_supplies/personal_care/185a9662664b50c6b15a660b12a9cb92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5748 |
+
dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,481 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front edge of the lid to open the small hinged case",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while closing or positioning the case",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the storage compartment",
|
| 19 |
+
"open for access to the stored item",
|
| 20 |
+
"protect the contents when closed"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "A rounded rectangular translucent pale mint-green plastic lid with a smooth glossy finish, hinged along the back top of the small case.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9698618054389954,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.008624930400401354,
|
| 29 |
+
0.1198960973601686,
|
| 30 |
+
0.07815815415233374
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.07017628600661092,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.09337978770236859,
|
| 36 |
+
0.8345562043575055,
|
| 37 |
+
-0.5383971079968505
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.9690725803375244,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.0037300281692296267,
|
| 45 |
+
0.11997946190646758,
|
| 46 |
+
0.08248312678188086
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.035687924818164504,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.06134337340197109,
|
| 52 |
+
0.8473089844141698,
|
| 53 |
+
-0.5263371994195992
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"part_name": "case body",
|
| 61 |
+
"mask_color": "Lime Green",
|
| 62 |
+
"graspable": true,
|
| 63 |
+
"grasp_scenarios": [
|
| 64 |
+
{
|
| 65 |
+
"scenario": "grasp the case body to pick up and reposition the container",
|
| 66 |
+
"confidence": 0.94
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"scenario": "hold the case body steady while opening the lid or manipulating the stored tool",
|
| 70 |
+
"confidence": 0.89
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"functional_labels": [
|
| 74 |
+
"form the main storage housing",
|
| 75 |
+
"support the lid hinge",
|
| 76 |
+
"provide the main grasp surface",
|
| 77 |
+
"stabilize the container during use"
|
| 78 |
+
],
|
| 79 |
+
"semantic_description": "The main mint-green plastic case body has a smooth glossy finish, rounded corners, a squat boxy shape, shallow horizontal ribbing on the sides, and white printed branding and icons on the front and side.",
|
| 80 |
+
"id": 9,
|
| 81 |
+
"grasp_group": {
|
| 82 |
+
"grasp_34": {
|
| 83 |
+
"confidence": 0.9852199554443359,
|
| 84 |
+
"position": [
|
| 85 |
+
-0.00274732883553952,
|
| 86 |
+
0.11836857932618727,
|
| 87 |
+
-0.028472074307501316
|
| 88 |
+
],
|
| 89 |
+
"orientation": {
|
| 90 |
+
"w": 0.04047534783932026,
|
| 91 |
+
"xyz": [
|
| 92 |
+
0.0013802668277169813,
|
| 93 |
+
0.5889330600519507,
|
| 94 |
+
-0.8071664585812615
|
| 95 |
+
]
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"grasp_35": {
|
| 99 |
+
"confidence": 0.9850718379020691,
|
| 100 |
+
"position": [
|
| 101 |
+
0.004058434162288904,
|
| 102 |
+
0.01496147016993632,
|
| 103 |
+
-0.10686186049133539
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.01473667208047192,
|
| 107 |
+
"xyz": [
|
| 108 |
+
0.017787384314381538,
|
| 109 |
+
0.006646736159059974,
|
| 110 |
+
-0.9997110884418944
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"grasp_36": {
|
| 115 |
+
"confidence": 0.9842333197593689,
|
| 116 |
+
"position": [
|
| 117 |
+
0.0020712055265903473,
|
| 118 |
+
0.017318580551062723,
|
| 119 |
+
-0.11056555155664682
|
| 120 |
+
],
|
| 121 |
+
"orientation": {
|
| 122 |
+
"w": 0.022548627992268814,
|
| 123 |
+
"xyz": [
|
| 124 |
+
0.005515488631536313,
|
| 125 |
+
-0.0015539104665134307,
|
| 126 |
+
-0.9997293254291804
|
| 127 |
+
]
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"grasp_37": {
|
| 131 |
+
"confidence": 0.9836239814758301,
|
| 132 |
+
"position": [
|
| 133 |
+
0.0046785916201770306,
|
| 134 |
+
0.12129596459678282,
|
| 135 |
+
0.0018686270341277122
|
| 136 |
+
],
|
| 137 |
+
"orientation": {
|
| 138 |
+
"w": 0.03414809024548894,
|
| 139 |
+
"xyz": [
|
| 140 |
+
0.03620210385951652,
|
| 141 |
+
0.6923438278196641,
|
| 142 |
+
-0.719849525726554
|
| 143 |
+
]
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"grasp_40": {
|
| 147 |
+
"confidence": 0.9821818470954895,
|
| 148 |
+
"position": [
|
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|
dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:d37bb6cd3964f00f3a711be52f7588652b06ca7e9e61a986177c87295b8bcf36
|
| 3 |
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size 3779780
|
dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/dental_floss_032.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|