Add asset bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/affordance_annot.json +244 -0
- dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_026.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5836,4 +5836,4 @@ dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/afforda
|
|
| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5837 |
dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5838 |
dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5839 |
-
dataset/bathroom_supplies/personal_care/
|
|
|
|
| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5837 |
dataset/bathroom_supplies/personal_care/c4aa290665b1546c8abc44a0d5c3ace1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5838 |
dataset/bathroom_supplies/personal_care/c576b91557ab53b995a6d28e10f059b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5839 |
+
dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,244 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb spine",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the spine to pick up and hold the comb",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp one end of the spine to orient the comb for grooming",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the spine to stabilize the comb while pulling it through hair",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support the teeth",
|
| 24 |
+
"provide structural rigidity",
|
| 25 |
+
"orient the comb during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Curved thick spine made of hard polished plastic or horn-like material, glossy and smooth with amber, cream, and dark brown mottled coloration, forming the larger outer arc of the comb with small gold printed markings on one side.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9801298379898071,
|
| 32 |
+
"position": [
|
| 33 |
+
0.11108578252606094,
|
| 34 |
+
0.06710510235279799,
|
| 35 |
+
-0.007063565863063559
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.26275090654147787,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.651661182705803,
|
| 41 |
+
0.20585619690157397,
|
| 42 |
+
-0.6811188517897049
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9795453548431396,
|
| 48 |
+
"position": [
|
| 49 |
+
0.11352069186978042,
|
| 50 |
+
0.06428973656147718,
|
| 51 |
+
0.000414815527619794
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6750350682294632,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.22665228537513205,
|
| 57 |
+
-0.6697111060041199,
|
| 58 |
+
0.21081611107648227
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9785212278366089,
|
| 64 |
+
"position": [
|
| 65 |
+
0.1390738959889859,
|
| 66 |
+
0.006020674481987953,
|
| 67 |
+
-0.0031474536226596683
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7070616483277983,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.016919567784414433,
|
| 73 |
+
-0.7067896050122464,
|
| 74 |
+
0.015033560343396504
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.9783122539520264,
|
| 80 |
+
"position": [
|
| 81 |
+
0.1379142429213971,
|
| 82 |
+
0.0024633100256323814,
|
| 83 |
+
0.014496478630462661
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6508651487030583,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.030945758805237575,
|
| 89 |
+
-0.7584702449174575,
|
| 90 |
+
-0.011823949871590588
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9778507351875305,
|
| 96 |
+
"position": [
|
| 97 |
+
0.11150119709782302,
|
| 98 |
+
0.06335112731903791,
|
| 99 |
+
0.009233643679181114
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.20002314266181068,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.7016777855760221,
|
| 105 |
+
0.22259448014343908,
|
| 106 |
+
-0.6465993543443228
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_12": {
|
| 111 |
+
"confidence": 0.9730433821678162,
|
| 112 |
+
"position": [
|
| 113 |
+
0.13932422059588134,
|
| 114 |
+
0.00031602615490555763,
|
| 115 |
+
-0.008875185245415196
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.04128076593668278,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6836744917777425,
|
| 121 |
+
-0.03186876469172739,
|
| 122 |
+
0.7279213346874436
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_13": {
|
| 127 |
+
"confidence": 0.9722132682800293,
|
| 128 |
+
"position": [
|
| 129 |
+
0.053171011386439204,
|
| 130 |
+
0.10043183993548155,
|
| 131 |
+
-0.0006474429101217538
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3855204757552485,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6040804002370447,
|
| 137 |
+
0.37685860873158095,
|
| 138 |
+
-0.5868887644586464
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_15": {
|
| 143 |
+
"confidence": 0.9708694219589233,
|
| 144 |
+
"position": [
|
| 145 |
+
0.1316864814143628,
|
| 146 |
+
0.004907497204840183,
|
| 147 |
+
0.010305916337529197
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6713573836653529,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.03130158840686801,
|
| 153 |
+
-0.7404400863348737,
|
| 154 |
+
-0.0069247750594587
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_16": {
|
| 159 |
+
"confidence": 0.9705265164375305,
|
| 160 |
+
"position": [
|
| 161 |
+
0.14103298145346344,
|
| 162 |
+
-0.0005092606879770756,
|
| 163 |
+
-0.003864953847369179
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.03150592733931201,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.7032635659489853,
|
| 169 |
+
-0.01876079673407771,
|
| 170 |
+
0.7099829334970731
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_17": {
|
| 175 |
+
"confidence": 0.9704042673110962,
|
| 176 |
+
"position": [
|
| 177 |
+
0.14131921785883605,
|
| 178 |
+
8.244067430496216e-06,
|
| 179 |
+
-0.003372851148014888
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.04864127371578341,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.6979509855762259,
|
| 185 |
+
-0.04356246526962093,
|
| 186 |
+
0.7131625059158074
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_18": {
|
| 191 |
+
"confidence": 0.9684651494026184,
|
| 192 |
+
"position": [
|
| 193 |
+
0.14161084848456085,
|
| 194 |
+
-0.0015652808360755444,
|
| 195 |
+
0.00403265786007978
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.04128744123005215,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.7190351174044846,
|
| 201 |
+
-0.01628154104834889,
|
| 202 |
+
0.6935551589865694
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_19": {
|
| 207 |
+
"confidence": 0.9674862623214722,
|
| 208 |
+
"position": [
|
| 209 |
+
0.1360536243300885,
|
| 210 |
+
0.0011805766262114048,
|
| 211 |
+
-0.0006945767963770777
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.041374989032104924,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.7104534747828318,
|
| 217 |
+
-0.015222807501500069,
|
| 218 |
+
0.7023618985846013
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "comb teeth",
|
| 226 |
+
"mask_color": "Green",
|
| 227 |
+
"graspable": false,
|
| 228 |
+
"grasp_scenarios": [],
|
| 229 |
+
"functional_labels": [
|
| 230 |
+
"comb hair",
|
| 231 |
+
"separate strands",
|
| 232 |
+
"detangle hair",
|
| 233 |
+
"guide hair through the comb"
|
| 234 |
+
],
|
| 235 |
+
"semantic_description": "Dense row of slender tapered teeth in a translucent amber to cream tone, hard and smooth with fine narrow spacing, lining the inner curve as the working edge of the comb.",
|
| 236 |
+
"id": 1,
|
| 237 |
+
"grasp_group": {}
|
| 238 |
+
}
|
| 239 |
+
],
|
| 240 |
+
"quality_check": {
|
| 241 |
+
"success": true,
|
| 242 |
+
"message": "YES"
|
| 243 |
+
}
|
| 244 |
+
}
|
dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97c6b8261d9a75db970bac28c6e7000fa3f098452b6ec1d71df80692a754fade
|
| 3 |
+
size 3781220
|
dataset/bathroom_supplies/personal_care/c7ceec11e6895797ba2e4c6a5ab951d1/comb_026.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>
|