xinjjj commited on
Commit
f51a478
·
verified ·
1 Parent(s): ff7b167

Add asset bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c

Browse files
.gitattributes CHANGED
@@ -7970,3 +7970,4 @@ dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/afforda
7970
  dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7971
  dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7972
  dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7970
  dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7971
  dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7972
  dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7973
+ dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,444 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "comb handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the comb",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the handle while using the teeth to comb hair",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to orient the comb for placement or storage",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip area",
23
+ "support comb manipulation",
24
+ "provide reach and leverage",
25
+ "connect teeth section to handhold"
26
+ ],
27
+ "semantic_description": "Elongated white plastic handle with a matte-to-satin finish and hard smooth surface, forming the larger curved rear portion of the comb with small printed branding near the center.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_4": {
31
+ "confidence": 0.970613956451416,
32
+ "position": [
33
+ 0.01517410110682249,
34
+ -0.10168031533248723,
35
+ -0.003999939868663205
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5495113677627277,
39
+ "xyz": [
40
+ -0.4370880736501031,
41
+ -0.5374949944417202,
42
+ -0.4670015026983037
43
+ ]
44
+ }
45
+ },
46
+ "grasp_5": {
47
+ "confidence": 0.9705967903137207,
48
+ "position": [
49
+ -0.001967326272279024,
50
+ -0.10280713369138539,
51
+ -0.0046566936471208464
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5173608062854246,
55
+ "xyz": [
56
+ -0.49367554563590366,
57
+ 0.48929031770701314,
58
+ 0.49921662307955944
59
+ ]
60
+ }
61
+ },
62
+ "grasp_7": {
63
+ "confidence": 0.9701877236366272,
64
+ "position": [
65
+ -0.00018869247287511826,
66
+ 0.09591074357740581,
67
+ -0.00040320165498997085
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5026706364925477,
71
+ "xyz": [
72
+ 0.5167264493387396,
73
+ 0.49700850752853354,
74
+ -0.4830098872758358
75
+ ]
76
+ }
77
+ },
78
+ "grasp_8": {
79
+ "confidence": 0.9701747298240662,
80
+ "position": [
81
+ -0.0005036559887230396,
82
+ -0.10075957258231938,
83
+ -0.0005561027028306853
84
+ ],
85
+ "orientation": {
86
+ "w": 0.49809160787468726,
87
+ "xyz": [
88
+ -0.4837008409271702,
89
+ -0.5148992313408871,
90
+ -0.5028091369652309
91
+ ]
92
+ }
93
+ },
94
+ "grasp_10": {
95
+ "confidence": 0.9697460532188416,
96
+ "position": [
97
+ 0.005860213190317154,
98
+ -0.10048621078021824,
99
+ -0.0022274234615906607
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4918706647430667,
103
+ "xyz": [
104
+ -0.5189736133419074,
105
+ 0.4710583011965588,
106
+ 0.5165594977288384
107
+ ]
108
+ }
109
+ },
110
+ "grasp_13": {
111
+ "confidence": 0.9688708782196045,
112
+ "position": [
113
+ 0.0005499809049069881,
114
+ -0.10101845790632069,
115
+ -0.0016022492018237244
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5152448432434332,
119
+ "xyz": [
120
+ -0.4970002855051941,
121
+ 0.49646103386874896,
122
+ 0.49095815460055053
123
+ ]
124
+ }
125
+ },
126
+ "grasp_14": {
127
+ "confidence": 0.9684576988220215,
128
+ "position": [
129
+ 0.05061544384807348,
130
+ 0.08436120371334255,
131
+ -0.0007517978483519983
132
+ ],
133
+ "orientation": {
134
+ "w": 0.36769402369384846,
135
+ "xyz": [
136
+ 0.6109288460159197,
137
+ 0.35694264245668417,
138
+ -0.6034558807746633
139
+ ]
140
+ }
141
+ },
142
+ "grasp_15": {
143
+ "confidence": 0.9684060215950012,
144
+ "position": [
145
+ -0.002977540483698249,
146
+ -0.10457088728435338,
147
+ -0.001365706655633403
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5068607012302779,
151
+ "xyz": [
152
+ -0.5012462912797458,
153
+ 0.4934602841692166,
154
+ 0.49833857263339243
155
+ ]
156
+ }
157
+ },
158
+ "grasp_16": {
159
+ "confidence": 0.9682062864303589,
160
+ "position": [
161
+ -0.002280202694237232,
162
+ -0.10447349329479039,
163
+ -0.001681320933130337
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4957715293923087,
167
+ "xyz": [
168
+ -0.48586401332415036,
169
+ -0.5089525659884623,
170
+ -0.5090324515925487
171
+ ]
172
+ }
173
+ },
174
+ "grasp_17": {
175
+ "confidence": 0.968131422996521,
176
+ "position": [
177
+ 0.05357793252915144,
178
+ 0.08436772297136486,
179
+ 0.0010008400604419876
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5989924460714425,
183
+ "xyz": [
184
+ 0.3510107123506705,
185
+ -0.6237221086747375,
186
+ 0.3591242967480251
187
+ ]
188
+ }
189
+ },
190
+ "grasp_18": {
191
+ "confidence": 0.967913806438446,
192
+ "position": [
193
+ 0.04920023959130049,
194
+ 0.08512120763771236,
195
+ -0.0025043142777576577
196
+ ],
197
+ "orientation": {
198
+ "w": 0.36698553808272527,
199
+ "xyz": [
200
+ 0.6093760056360621,
201
+ 0.35864741110230103,
202
+ -0.6044456411479757
203
+ ]
204
+ }
205
+ }
206
+ }
207
+ },
208
+ {
209
+ "part_name": "comb teeth section",
210
+ "mask_color": "Blue",
211
+ "graspable": true,
212
+ "grasp_scenarios": [
213
+ {
214
+ "scenario": "pinch the teeth section to briefly pick up the comb when the handle is inaccessible",
215
+ "confidence": 0.34
216
+ },
217
+ {
218
+ "scenario": "hold the teeth section to stabilize or reorient the comb during placement",
219
+ "confidence": 0.29
220
+ }
221
+ ],
222
+ "functional_labels": [
223
+ "comb hair",
224
+ "separate strands",
225
+ "detangle hair",
226
+ "provide fine grooming edge"
227
+ ],
228
+ "semantic_description": "Dense row of short white plastic teeth with a matte smooth but ridged profile, located along the narrow working edge of the comb head and sized smaller than the handle.",
229
+ "id": 2,
230
+ "grasp_group": {
231
+ "grasp_20": {
232
+ "confidence": 0.9715465903282166,
233
+ "position": [
234
+ -0.017252270132303238,
235
+ -0.10238899220712483,
236
+ -0.004050830593769206
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5057048777406831,
240
+ "xyz": [
241
+ -0.5110662472389391,
242
+ 0.4763828755566205,
243
+ 0.5060960614733072
244
+ ]
245
+ }
246
+ },
247
+ "grasp_21": {
248
+ "confidence": 0.9694700241088867,
249
+ "position": [
250
+ -0.018312138505280018,
251
+ -0.10239127953536808,
252
+ -0.0024179727588489186
253
+ ],
254
+ "orientation": {
255
+ "w": 0.5048826006253336,
256
+ "xyz": [
257
+ -0.49634435523664244,
258
+ -0.49561333231755744,
259
+ -0.5030936944939866
260
+ ]
261
+ }
262
+ },
263
+ "grasp_22": {
264
+ "confidence": 0.968831479549408,
265
+ "position": [
266
+ -0.022691083140671253,
267
+ -0.10307847638614476,
268
+ -0.0022326335129037034
269
+ ],
270
+ "orientation": {
271
+ "w": 0.5054479279370623,
272
+ "xyz": [
273
+ -0.5072157833434774,
274
+ 0.49321808551516855,
275
+ 0.49395390614119533
276
+ ]
277
+ }
278
+ },
279
+ "grasp_23": {
280
+ "confidence": 0.9678612351417542,
281
+ "position": [
282
+ -0.014991898089647293,
283
+ -0.10439482261426747,
284
+ -0.00284375970295514
285
+ ],
286
+ "orientation": {
287
+ "w": 0.5099732317314459,
288
+ "xyz": [
289
+ -0.502478019866661,
290
+ 0.4906923191500465,
291
+ 0.49665298790545226
292
+ ]
293
+ }
294
+ },
295
+ "grasp_24": {
296
+ "confidence": 0.9660364985466003,
297
+ "position": [
298
+ -0.029583978466689587,
299
+ -0.10150966723449528,
300
+ -0.002712581288506044
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5116537720078546,
304
+ "xyz": [
305
+ -0.5053639302313728,
306
+ 0.4935848752183941,
307
+ 0.4890722713126113
308
+ ]
309
+ }
310
+ },
311
+ "grasp_25": {
312
+ "confidence": 0.965970516204834,
313
+ "position": [
314
+ -0.009780623950064182,
315
+ -0.10558164049871266,
316
+ -0.0010062784240290057
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5074398063570235,
320
+ "xyz": [
321
+ -0.5139415660495855,
322
+ 0.48623523295415383,
323
+ 0.491878244939605
324
+ ]
325
+ }
326
+ },
327
+ "grasp_26": {
328
+ "confidence": 0.9650213122367859,
329
+ "position": [
330
+ -0.01229823473840952,
331
+ -0.10594419320113957,
332
+ -0.00014320763511932455
333
+ ],
334
+ "orientation": {
335
+ "w": 0.5058021052627235,
336
+ "xyz": [
337
+ -0.508087247643122,
338
+ 0.4909200289271679,
339
+ 0.4949839434692632
340
+ ]
341
+ }
342
+ },
343
+ "grasp_27": {
344
+ "confidence": 0.963057816028595,
345
+ "position": [
346
+ -0.024025998078286648,
347
+ -0.10394395072944462,
348
+ -0.0031480395518883597
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5118241687386558,
352
+ "xyz": [
353
+ -0.4968940104084024,
354
+ -0.4896449995871489,
355
+ -0.5013782375557791
356
+ ]
357
+ }
358
+ },
359
+ "grasp_28": {
360
+ "confidence": 0.960818350315094,
361
+ "position": [
362
+ -0.03208343964070082,
363
+ -0.10301863332279027,
364
+ -0.0038904461362108123
365
+ ],
366
+ "orientation": {
367
+ "w": 0.5080425748624949,
368
+ "xyz": [
369
+ -0.48883459085297754,
370
+ -0.4945950794706129,
371
+ -0.5082412736842082
372
+ ]
373
+ }
374
+ },
375
+ "grasp_29": {
376
+ "confidence": 0.9560779929161072,
377
+ "position": [
378
+ -0.02519016806036234,
379
+ -0.10677620698697865,
380
+ -0.006215383513335837
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5125939283446906,
384
+ "xyz": [
385
+ -0.4915884502114733,
386
+ 0.49243236814858515,
387
+ 0.5030890806233184
388
+ ]
389
+ }
390
+ },
391
+ "grasp_30": {
392
+ "confidence": 0.9552515149116516,
393
+ "position": [
394
+ -0.022452118806540966,
395
+ -0.10739561845548451,
396
+ -0.0035857341536029708
397
+ ],
398
+ "orientation": {
399
+ "w": 0.505151394713098,
400
+ "xyz": [
401
+ -0.5021153933636392,
402
+ 0.49445455432681984,
403
+ 0.4982137030152377
404
+ ]
405
+ }
406
+ },
407
+ "grasp_38": {
408
+ "confidence": 0.9248734712600708,
409
+ "position": [
410
+ -0.13732118252664804,
411
+ 0.004475024761632085,
412
+ -0.00523671901828493
413
+ ],
414
+ "orientation": {
415
+ "w": 0.7160469174774575,
416
+ "xyz": [
417
+ 0.021307318598880833,
418
+ 0.697704879352844,
419
+ 0.0055417932468543605
420
+ ]
421
+ }
422
+ }
423
+ }
424
+ },
425
+ {
426
+ "part_name": "hanging hole",
427
+ "mask_color": "Green",
428
+ "graspable": false,
429
+ "grasp_scenarios": [],
430
+ "functional_labels": [
431
+ "enable hanging storage",
432
+ "provide attachment point",
433
+ "indicate handle end"
434
+ ],
435
+ "semantic_description": "Small round hole near the end of the white plastic handle, appearing as a clean smooth opening used for hanging or tethering the comb.",
436
+ "id": 1,
437
+ "grasp_group": {}
438
+ }
439
+ ],
440
+ "quality_check": {
441
+ "success": true,
442
+ "message": "YES"
443
+ }
444
+ }
dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4bdc6ed90cc589cfde021d8fc36cc7d0f66ab7c3169edf3cb14ad3bdaa0e24f0
3
+ size 3781528
dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/comb_027.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>