xinjjj commited on
Commit
cab51fd
·
verified ·
1 Parent(s): 9bbc37d

Add asset bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa

Browse files
.gitattributes CHANGED
@@ -7967,3 +7967,4 @@ dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/afforda
7967
  dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7968
  dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7969
  dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7967
  dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7968
  dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7969
  dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7970
+ dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/affordance/affordance_annot.json ADDED
@@ -0,0 +1,324 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the spine to orient the comb for grooming",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "clamp the spine to stabilize the comb while presenting the teeth",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support the teeth",
24
+ "provide structural rigidity",
25
+ "enable orientation during combing"
26
+ ],
27
+ "semantic_description": "Long curved olive-green plastic spine with a matte slightly translucent finish, hard smooth feel, rounded ends, and a thicker larger profile running along the back of the comb.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9811674356460571,
32
+ "position": [
33
+ 0.11218190286308527,
34
+ 0.08639244679397962,
35
+ -0.0012350280303508043
36
+ ],
37
+ "orientation": {
38
+ "w": 0.36304623623106963,
39
+ "xyz": [
40
+ 0.6132516648440124,
41
+ 0.3447407446669919,
42
+ -0.610961246635946
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9764513969421387,
48
+ "position": [
49
+ 0.11033110413700342,
50
+ 0.08487179074472806,
51
+ 0.0009960155002772808
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3583868516698438,
55
+ "xyz": [
56
+ 0.6113222227588727,
57
+ 0.3654456782136918,
58
+ -0.6035672794198366
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9756537079811096,
64
+ "position": [
65
+ 0.07664854917675257,
66
+ -0.10752476807647326,
67
+ -0.00038723036414012313
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4801054454054716,
71
+ "xyz": [
72
+ -0.5272337368800244,
73
+ 0.451912844034123,
74
+ 0.5360019863624849
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9755352139472961,
80
+ "position": [
81
+ 0.06412078533321619,
82
+ -0.1044881945472298,
83
+ -0.003076961962506175
84
+ ],
85
+ "orientation": {
86
+ "w": 0.49705076088486994,
87
+ "xyz": [
88
+ -0.5132445117652326,
89
+ 0.4744469623376174,
90
+ 0.5142185257021058
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9750999212265015,
96
+ "position": [
97
+ 0.05916752014309168,
98
+ -0.10699486788325885,
99
+ -0.003108090488240123
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5046700775938864,
103
+ "xyz": [
104
+ -0.5006578023414778,
105
+ -0.4955821649394797,
106
+ -0.49904728786947783
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9750023484230042,
112
+ "position": [
113
+ 0.11241092626005411,
114
+ 0.0845093721527519,
115
+ 0.0011881987447850406
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3545906573490421,
119
+ "xyz": [
120
+ 0.6115186931070105,
121
+ 0.36366443006987714,
122
+ -0.6066782804777342
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9749739766120911,
128
+ "position": [
129
+ 0.06275130901485682,
130
+ -0.10549247320705035,
131
+ -0.015756681561470032
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5538967464310623,
135
+ "xyz": [
136
+ -0.4766044644672122,
137
+ 0.42706798414800107,
138
+ 0.5325969542334686
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9747562408447266,
144
+ "position": [
145
+ 0.0749898636713624,
146
+ -0.10427106227689364,
147
+ -0.004149379674345255
148
+ ],
149
+ "orientation": {
150
+ "w": 0.48578293086655155,
151
+ "xyz": [
152
+ -0.5220389924359633,
153
+ 0.44172514916765937,
154
+ 0.5443979491584775
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9745709896087646,
160
+ "position": [
161
+ 0.11552097741514444,
162
+ 0.08326134774870297,
163
+ 0.0004885423113591969
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3513485918797292,
167
+ "xyz": [
168
+ 0.622567923591717,
169
+ 0.33168166952963574,
170
+ -0.6155896503328032
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9745352268218994,
176
+ "position": [
177
+ 0.061741278506815434,
178
+ -0.1071257820349274,
179
+ -0.0008834425825625658
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5065388166288588,
183
+ "xyz": [
184
+ -0.5017061150697607,
185
+ -0.4983815482201984,
186
+ -0.49328007636988686
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9744446277618408,
192
+ "position": [
193
+ 0.0643026465550065,
194
+ -0.10933978166394809,
195
+ -0.0029661126900464296
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5113290524247478,
199
+ "xyz": [
200
+ -0.48797583807304573,
201
+ 0.49547769136874453,
202
+ 0.5049000286781706
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9740637540817261,
208
+ "position": [
209
+ 0.06626214925199747,
210
+ -0.10838763471656421,
211
+ -0.0036075981333851814
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5108982589111567,
215
+ "xyz": [
216
+ -0.49151443187217086,
217
+ 0.48738075669105085,
218
+ 0.5097612483410103
219
+ ]
220
+ }
221
+ },
222
+ "grasp_13": {
223
+ "confidence": 0.9731078147888184,
224
+ "position": [
225
+ -0.06923372205346823,
226
+ -0.10760088320785144,
227
+ 0.0018822905840352178
228
+ ],
229
+ "orientation": {
230
+ "w": 0.49083395083885484,
231
+ "xyz": [
232
+ -0.5230322864395887,
233
+ -0.48494619333852973,
234
+ -0.500346329667927
235
+ ]
236
+ }
237
+ },
238
+ "grasp_15": {
239
+ "confidence": 0.9723469018936157,
240
+ "position": [
241
+ 0.11074744258075953,
242
+ 0.08313771281427762,
243
+ 0.0009174022707156837
244
+ ],
245
+ "orientation": {
246
+ "w": 0.35535516394678635,
247
+ "xyz": [
248
+ 0.6131482749647643,
249
+ 0.36009654980184924,
250
+ -0.6067144099037788
251
+ ]
252
+ }
253
+ },
254
+ "grasp_16": {
255
+ "confidence": 0.9716588854789734,
256
+ "position": [
257
+ 0.03985560778528452,
258
+ 0.09424401018804929,
259
+ 0.027978962287306786
260
+ ],
261
+ "orientation": {
262
+ "w": 0.3440259756518764,
263
+ "xyz": [
264
+ 0.6125694836554554,
265
+ -0.5438363473852684,
266
+ 0.4589627251025007
267
+ ]
268
+ }
269
+ },
270
+ "grasp_17": {
271
+ "confidence": 0.9707649350166321,
272
+ "position": [
273
+ -0.06655384507030249,
274
+ -0.10614748354964831,
275
+ 0.002292732708156109
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5033790413178271,
279
+ "xyz": [
280
+ -0.5176499681342952,
281
+ -0.4850953145724106,
282
+ -0.49328550255648307
283
+ ]
284
+ }
285
+ },
286
+ "grasp_18": {
287
+ "confidence": 0.9706856608390808,
288
+ "position": [
289
+ 0.07104343269020319,
290
+ -0.10520540233665088,
291
+ -0.0029840031638741493
292
+ ],
293
+ "orientation": {
294
+ "w": 0.49714870427754393,
295
+ "xyz": [
296
+ -0.5018668133436379,
297
+ 0.48021136240976026,
298
+ 0.5199710712261051
299
+ ]
300
+ }
301
+ }
302
+ }
303
+ },
304
+ {
305
+ "part_name": "comb teeth",
306
+ "mask_color": "Gainsboro",
307
+ "graspable": false,
308
+ "grasp_scenarios": [],
309
+ "functional_labels": [
310
+ "separate hair strands",
311
+ "detangle hair",
312
+ "guide grooming strokes",
313
+ "provide fine contact with hair"
314
+ ],
315
+ "semantic_description": "A dense row of thin olive-green plastic teeth with a matte smooth hard surface, closely spaced along one edge of the comb and tapering into fine narrow tips.",
316
+ "id": 28,
317
+ "grasp_group": {}
318
+ }
319
+ ],
320
+ "quality_check": {
321
+ "success": true,
322
+ "message": "YES"
323
+ }
324
+ }
dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94aae62c8fad80b2743931baf67283d15ab6e91e3db950bed168b9d8c045641a
3
+ size 3996404
dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/comb_032.urdf CHANGED
@@ -50,16 +50,17 @@
50
  </link>
51
  <custom_data>
52
  <affordance>
53
- <part_count>0</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
57
- <mesh filename="None" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
63
  </quality>
64
  </custom_data>
65
  </robot>
 
50
  </link>
51
  <custom_data>
52
  <affordance>
53
+ <part_count>2</part_count>
54
  <visual_seg>
55
  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
56
  <geometry>
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>
64
  </quality>
65
  </custom_data>
66
  </robot>