xinjjj commited on
Commit
f0b55f7
·
verified ·
1 Parent(s): a718896

Add asset bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272

Browse files
.gitattributes CHANGED
@@ -7977,3 +7977,4 @@ dataset/bathroom_supplies/personal_care/71d1297941105026b1334386b6e382d2/afforda
7977
  dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7978
  dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7979
  dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7977
  dataset/bathroom_supplies/personal_care/72241fd24e9255718d40c02fa2cda593/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7978
  dataset/bathroom_supplies/personal_care/72844cec9bd25ea3b7c58c7d9cf10627/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7979
  dataset/bathroom_supplies/personal_care/72a59936e82f587da982dee098a3eb02/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7980
+ dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/affordance/affordance_annot.json ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "comb",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle end to pick up and use the comb",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the spine and handle area to manipulate the comb during grooming",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "pinch the comb body to reposition or place it down",
18
+ "confidence": 0.77
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "comb hair",
23
+ "separate and align strands",
24
+ "provide a handhold for manipulation",
25
+ "support grooming strokes",
26
+ "orient the teeth during use"
27
+ ],
28
+ "semantic_description": "Single-piece off-white plastic comb with a hard smooth mostly matte surface, a gently curved narrow handle and fine closely spaced teeth along one edge, medium-sized and elongated with faint embossed markings near the handle.",
29
+ "id": 4,
30
+ "grasp_group": {
31
+ "grasp_1": {
32
+ "confidence": 0.9883162379264832,
33
+ "position": [
34
+ 0.04246789077296853,
35
+ 0.09645354188978672,
36
+ 0.012140176782850176
37
+ ],
38
+ "orientation": {
39
+ "w": 0.47821502621175327,
40
+ "xyz": [
41
+ 0.5704467201330699,
42
+ -0.5009588428862017,
43
+ 0.44152142182326026
44
+ ]
45
+ }
46
+ },
47
+ "grasp_2": {
48
+ "confidence": 0.9878582954406738,
49
+ "position": [
50
+ 0.03650385374203324,
51
+ 0.09459532983601093,
52
+ 0.02472152333939448
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4107163807936954,
56
+ "xyz": [
57
+ 0.5305200080952787,
58
+ 0.5924586928352761,
59
+ -0.44592967252945853
60
+ ]
61
+ }
62
+ },
63
+ "grasp_3": {
64
+ "confidence": 0.9876126646995544,
65
+ "position": [
66
+ 0.045432856772094965,
67
+ 0.09647713787853718,
68
+ 0.010497959854546934
69
+ ],
70
+ "orientation": {
71
+ "w": 0.47655295036393225,
72
+ "xyz": [
73
+ 0.5685677180471036,
74
+ -0.49921252911242464,
75
+ 0.4476772121420943
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9874210357666016,
81
+ "position": [
82
+ 0.04346489021554589,
83
+ 0.09784773923456669,
84
+ 0.003948066907469183
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4911657443234248,
88
+ "xyz": [
89
+ 0.5491480259438851,
90
+ -0.4874601933998114,
91
+ 0.4685885370511833
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9872249364852905,
97
+ "position": [
98
+ 0.039758867118507624,
99
+ 0.09826965816318989,
100
+ 0.01589455414796248
101
+ ],
102
+ "orientation": {
103
+ "w": 0.43402478594466537,
104
+ "xyz": [
105
+ 0.5127314435957497,
106
+ 0.5793781384439874,
107
+ -0.4615733144659527
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9855565428733826,
113
+ "position": [
114
+ 0.054097572807222605,
115
+ 0.09578640200197697,
116
+ 0.01625894062453881
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5029624332755385,
120
+ "xyz": [
121
+ 0.5533799227054685,
122
+ -0.5368711632140041,
123
+ 0.3906005708767992
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9853620529174805,
129
+ "position": [
130
+ 0.050366966519504786,
131
+ 0.09528912790119648,
132
+ 0.010930303076747805
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4245858403166803,
136
+ "xyz": [
137
+ 0.5160992419978632,
138
+ 0.5600226192075395,
139
+ -0.4896356835318858
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9846497178077698,
145
+ "position": [
146
+ 0.0553064220584929,
147
+ 0.09535412676632404,
148
+ 0.02827694040024653
149
+ ],
150
+ "orientation": {
151
+ "w": 0.44992889555148396,
152
+ "xyz": [
153
+ 0.6034496613688759,
154
+ -0.5406964395048243,
155
+ 0.3755793597209741
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.984369158744812,
161
+ "position": [
162
+ 0.04940628865733743,
163
+ 0.09550217725336552,
164
+ 0.011109292099718004
165
+ ],
166
+ "orientation": {
167
+ "w": 0.3984734470539537,
168
+ "xyz": [
169
+ 0.5453259091368751,
170
+ 0.5291203046748468,
171
+ -0.5136830423498302
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9841960668563843,
177
+ "position": [
178
+ 0.05431987950578332,
179
+ 0.09883922524750233,
180
+ 0.009245557303074747
181
+ ],
182
+ "orientation": {
183
+ "w": 0.48060514299023277,
184
+ "xyz": [
185
+ 0.5708304926077016,
186
+ -0.5006768939016231,
187
+ 0.43874125991706003
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9837982654571533,
193
+ "position": [
194
+ 0.0488165975548327,
195
+ 0.09865866042673588,
196
+ 0.004676559299696237
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5057914527323245,
200
+ "xyz": [
201
+ 0.5464117488099423,
202
+ -0.5134444245296224,
203
+ 0.42659586264382693
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9826624393463135,
209
+ "position": [
210
+ 0.05222726473584771,
211
+ 0.09223155863583088,
212
+ 0.01399546820903197
213
+ ],
214
+ "orientation": {
215
+ "w": 0.4262019567562502,
216
+ "xyz": [
217
+ 0.512367415921692,
218
+ 0.5792219064689474,
219
+ -0.46939696017906835
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9824625253677368,
225
+ "position": [
226
+ 0.005064695607870817,
227
+ 0.0984742883592844,
228
+ 0.013412515225354582
229
+ ],
230
+ "orientation": {
231
+ "w": 0.48552441450268935,
232
+ "xyz": [
233
+ 0.5585862743791911,
234
+ -0.5011441609434473,
235
+ 0.4484439172842949
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9823253750801086,
241
+ "position": [
242
+ 0.061271118465811014,
243
+ 0.0958626065403223,
244
+ 0.008190544846002012
245
+ ],
246
+ "orientation": {
247
+ "w": 0.5029024017094128,
248
+ "xyz": [
249
+ 0.5498573424433327,
250
+ -0.5154933021050895,
251
+ 0.4230989633653703
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9822289943695068,
257
+ "position": [
258
+ 0.0551208988763392,
259
+ 0.0965940821915865,
260
+ 0.012319550442043692
261
+ ],
262
+ "orientation": {
263
+ "w": 0.3814425387518074,
264
+ "xyz": [
265
+ 0.5566564661002982,
266
+ 0.5240038088894909,
267
+ -0.5196683333132869
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9818260669708252,
273
+ "position": [
274
+ 0.0535642565228045,
275
+ 0.09233023412525654,
276
+ 0.01623406127328053
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4261641537086782,
280
+ "xyz": [
281
+ 0.507172492573147,
282
+ 0.5887278596235974,
283
+ -0.4632058766616906
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9817419648170471,
289
+ "position": [
290
+ 0.004719184245914221,
291
+ 0.09487713314592838,
292
+ 0.010050018841866404
293
+ ],
294
+ "orientation": {
295
+ "w": 0.31965197451946625,
296
+ "xyz": [
297
+ 0.5919162893371921,
298
+ 0.43489927317791144,
299
+ -0.5985986500088528
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.981432318687439,
305
+ "position": [
306
+ 0.05234223464503884,
307
+ -0.0978544931858778,
308
+ -0.022018531744834036
309
+ ],
310
+ "orientation": {
311
+ "w": 0.5860641906005228,
312
+ "xyz": [
313
+ -0.4653145306381459,
314
+ -0.4417889646543244,
315
+ -0.4948066923379438
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ }
321
+ ],
322
+ "quality_check": {
323
+ "success": true,
324
+ "message": "YES"
325
+ }
326
+ }
dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d80708dba0b3bc5000039f5a517ecbc1ef2058aec5eff40c350496865b202f05
3
+ size 3777012
dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/comb_018.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
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>