Add asset bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed
Browse files
.gitattributes
CHANGED
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@@ -5761,3 +5761,4 @@ dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/afforda
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| 5761 |
dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5762 |
dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5763 |
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5761 |
dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5762 |
dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5763 |
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5764 |
+
dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,621 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the comb",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the comb for brushing",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the comb by the handle while avoiding contact with the bristles",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a gripping point",
|
| 23 |
+
"enable lifting and repositioning",
|
| 24 |
+
"support orientation control",
|
| 25 |
+
"keep hand away from bristles"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Short light-cyan plastic handle with a smooth glossy hard surface, rounded shape, and a circular hanging hole at the end, extending from the back of the comb head.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9898844957351685,
|
| 32 |
+
"position": [
|
| 33 |
+
0.041206832975149155,
|
| 34 |
+
-0.010904125170782208,
|
| 35 |
+
-0.0969577208161354
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7105531413537703,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.06282484001194537,
|
| 41 |
+
0.12133454800889698,
|
| 42 |
+
0.6902500997821289
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9868307113647461,
|
| 48 |
+
"position": [
|
| 49 |
+
0.07128698751330376,
|
| 50 |
+
-0.00044148472443339415,
|
| 51 |
+
0.09643483906984329
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.00614503742413447,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6880581256686237,
|
| 57 |
+
0.7256282376131367,
|
| 58 |
+
-0.0013838334038101812
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9863920211791992,
|
| 64 |
+
"position": [
|
| 65 |
+
0.07301092520356178,
|
| 66 |
+
0.10534917074255645,
|
| 67 |
+
-0.004670840688049793
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5094923263377437,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.4991186691606973,
|
| 73 |
+
-0.4955171165909481,
|
| 74 |
+
0.49574278679936523
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9863073229789734,
|
| 80 |
+
"position": [
|
| 81 |
+
0.041534967720508575,
|
| 82 |
+
0.0010679922997951508,
|
| 83 |
+
-0.09491399675607681
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7024655083659399,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.08756365913287877,
|
| 89 |
+
0.10337332803298749,
|
| 90 |
+
-0.6987050666818062
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
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}
|
| 599 |
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}
|
| 600 |
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},
|
| 601 |
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{
|
| 602 |
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"part_name": "bristle pad",
|
| 603 |
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"mask_color": "Blue",
|
| 604 |
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"graspable": false,
|
| 605 |
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"grasp_scenarios": [],
|
| 606 |
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"functional_labels": [
|
| 607 |
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"brush hair",
|
| 608 |
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"detangle strands",
|
| 609 |
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"provide compliant contact",
|
| 610 |
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"distribute grooming force"
|
| 611 |
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],
|
| 612 |
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"semantic_description": "Dense field of short blue plastic bristles on the top face, with many rounded tips and a slightly flexible fine texture covering most of the comb head.",
|
| 613 |
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"id": 2,
|
| 614 |
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"grasp_group": {}
|
| 615 |
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}
|
| 616 |
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],
|
| 617 |
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"quality_check": {
|
| 618 |
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"success": true,
|
| 619 |
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"message": "YES"
|
| 620 |
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}
|
| 621 |
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}
|
dataset/bathroom_supplies/personal_care/2c531de21c8056a7b98bc1b8f11643ed/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a36e3666dd2370680297d947956bc2d2ef37ba92e0bbc8ca3d7d7e6673d4928d
|
| 3 |
+
size 3783948
|