Add asset bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/affordance_annot.json +432 -0
- dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/comb_020.urdf +1 -0
.gitattributes
CHANGED
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@@ -5803,3 +5803,4 @@ dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/afforda
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5804 |
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5805 |
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5804 |
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5805 |
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5806 |
+
dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,432 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb handle and spine",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the comb during use",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the spine to reposition or orient the comb on a surface",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the body to stabilize the comb while presenting the teeth toward hair",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a primary grip",
|
| 23 |
+
"support the teeth",
|
| 24 |
+
"transmit combing force",
|
| 25 |
+
"orient the comb",
|
| 26 |
+
"stabilize during manipulation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Light beige molded plastic handle and spine with a matte smooth hard surface, forming the larger curved backbone and rounded grip area of the small handheld comb.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9783746600151062,
|
| 33 |
+
"position": [
|
| 34 |
+
0.07993041258305311,
|
| 35 |
+
0.09565381868742406,
|
| 36 |
+
-0.0030601341131841764
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4616220501058329,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5411365293744619,
|
| 42 |
+
0.43577107201120124,
|
| 43 |
+
-0.5515250785148923
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9779200553894043,
|
| 49 |
+
"position": [
|
| 50 |
+
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|
| 51 |
+
0.08976181014440954,
|
| 52 |
+
-0.0017395585164194927
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.3833305108821407,
|
| 56 |
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"xyz": [
|
| 57 |
+
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|
| 58 |
+
0.3592814308818524,
|
| 59 |
+
-0.6031500905860167
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9773578643798828,
|
| 65 |
+
"position": [
|
| 66 |
+
0.10503435414284468,
|
| 67 |
+
0.09108185186050832,
|
| 68 |
+
0.016894894200959243
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.3309792541689862,
|
| 72 |
+
"xyz": [
|
| 73 |
+
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|
| 74 |
+
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|
| 75 |
+
-0.5625037680869012
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9772235155105591,
|
| 81 |
+
"position": [
|
| 82 |
+
0.11467860918492079,
|
| 83 |
+
0.09037529095076025,
|
| 84 |
+
-0.003514286348945461
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.38043608962718645,
|
| 88 |
+
"xyz": [
|
| 89 |
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|
| 90 |
+
0.35801853060940036,
|
| 91 |
+
-0.607489866877673
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9759678840637207,
|
| 97 |
+
"position": [
|
| 98 |
+
0.07503296714276075,
|
| 99 |
+
0.0993998812045902,
|
| 100 |
+
0.0007641771953785792
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.47745242153830547,
|
| 104 |
+
"xyz": [
|
| 105 |
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0.5272450757295081,
|
| 106 |
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|
| 107 |
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-0.5195895820356596
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_7": {
|
| 112 |
+
"confidence": 0.975825309753418,
|
| 113 |
+
"position": [
|
| 114 |
+
0.10992144327610731,
|
| 115 |
+
0.08884475543163717,
|
| 116 |
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-0.006163742844364606
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.614893702399702,
|
| 120 |
+
"xyz": [
|
| 121 |
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0.3454774267861678,
|
| 122 |
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-0.6040352534451081,
|
| 123 |
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0.37106939367980535
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_10": {
|
| 128 |
+
"confidence": 0.9751264452934265,
|
| 129 |
+
"position": [
|
| 130 |
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0.10653912555426359,
|
| 131 |
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0.08907554461620748,
|
| 132 |
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|
| 133 |
+
],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.6056733257159049,
|
| 136 |
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"xyz": [
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_11": {
|
| 144 |
+
"confidence": 0.9750667214393616,
|
| 145 |
+
"position": [
|
| 146 |
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0.11638468038290739,
|
| 147 |
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0.08828099234960973,
|
| 148 |
+
-0.007041927412501536
|
| 149 |
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],
|
| 150 |
+
"orientation": {
|
| 151 |
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"w": 0.39050567153034044,
|
| 152 |
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"xyz": [
|
| 153 |
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0.5900282185193269,
|
| 154 |
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0.34583536958194805,
|
| 155 |
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-0.6162547517055461
|
| 156 |
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]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_14": {
|
| 160 |
+
"confidence": 0.9747640490531921,
|
| 161 |
+
"position": [
|
| 162 |
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0.1077476916834712,
|
| 163 |
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0.08935046358965337,
|
| 164 |
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-0.004948724512360059
|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.6219791466750773,
|
| 168 |
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"xyz": [
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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]
|
| 173 |
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"success": true,
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|
dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:9f096f8c10455d5f2659fb63ce32cb63ff44f9cfcab766844cd1214e1a0d7447
|
| 3 |
+
size 1877568
|
dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/comb_020.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
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