Add asset bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c
Browse files
.gitattributes
CHANGED
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@@ -5787,3 +5787,4 @@ dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/afforda
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| 5787 |
dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5788 |
dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5789 |
dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5787 |
dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5788 |
dataset/bathroom_supplies/personal_care/47c670995f935657a879fde452a35586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5789 |
dataset/bathroom_supplies/personal_care/4a041813f401503fb5a44b246affc3c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5790 |
+
dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,525 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and orient the comb",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to guide brushing motions",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the handle to stabilize the comb while placing it down",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main handhold",
|
| 23 |
+
"enable carrying",
|
| 24 |
+
"support directional control",
|
| 25 |
+
"keep hand away from bristles"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark gray to black plastic handle with a matte slightly textured grip surface, hard smooth edges, and a rounded tapered shape extending from the brush head.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9845407605171204,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.001760943268891424,
|
| 34 |
+
-0.09014948469121009,
|
| 35 |
+
-0.10396749607753009
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.02803037762195166,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.003264720748751314,
|
| 41 |
+
0.030238491999482697,
|
| 42 |
+
-0.9991442704286507
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9843509197235107,
|
| 48 |
+
"position": [
|
| 49 |
+
0.09763964667217806,
|
| 50 |
+
-0.0905551390023902,
|
| 51 |
+
-0.012311448226682842
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.08616605211428197,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6944331975619992,
|
| 57 |
+
0.0878802202610901,
|
| 58 |
+
-0.7089534628406287
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.983225405216217,
|
| 64 |
+
"position": [
|
| 65 |
+
0.0981615002383478,
|
| 66 |
+
-0.10747820150572807,
|
| 67 |
+
-0.010952582466416061
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.11496016352318951,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6929854304021743,
|
| 73 |
+
0.03137110068800508,
|
| 74 |
+
0.7110353072067926
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9827238917350769,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.09928276733262464,
|
| 82 |
+
-0.0922425688477233,
|
| 83 |
+
0.010924883303232491
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.04568424404224749,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.7610866631969542,
|
| 89 |
+
-0.008623955392568439,
|
| 90 |
+
0.6469819691022318
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9824395179748535,
|
| 96 |
+
"position": [
|
| 97 |
+
0.08758249535458162,
|
| 98 |
+
-0.11733953666407615,
|
| 99 |
+
0.029966711183078587
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.553117352918932,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.00237537364371587,
|
| 105 |
+
-0.8291413815910706,
|
| 106 |
+
-0.08111794396591628
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9810791015625,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0988583003054373,
|
| 114 |
+
-0.09323281806427985,
|
| 115 |
+
-0.033449076930992305
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7868869725950542,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.027486818650174907,
|
| 121 |
+
0.616074204748887,
|
| 122 |
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-0.022493141259264614
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_10": {
|
| 127 |
+
"confidence": 0.9801129102706909,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.0032039544894360006,
|
| 130 |
+
-0.0992609040113166,
|
| 131 |
+
0.09009063907433301
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.03873839980667574,
|
| 135 |
+
"xyz": [
|
| 136 |
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-0.020332710002667703,
|
| 137 |
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-0.9974874504360426,
|
| 138 |
+
-0.05571986635813998
|
| 139 |
+
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|
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|
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| 524 |
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|
dataset/bathroom_supplies/personal_care/4a4e7ccf70725b3a8c12823164f3920c/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 sha256:901bf5c4fec395405361e091c5e57b137cfe1802fcf3a456f9f4e3a9c060e62c
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| 3 |
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size 3784292
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