Add asset bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/affordance_annot.json +622 -0
- dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/toothbrush_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -7984,3 +7984,4 @@ dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/afforda
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| 7984 |
dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7985 |
dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7986 |
dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7984 |
dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7985 |
dataset/bathroom_supplies/personal_care/76d5dfcd59ad5e17a52ba8ed4594b956/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7986 |
dataset/bathroom_supplies/personal_care/7829bb238638555f89c87e97e889968f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7987 |
+
dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,622 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle",
|
| 5 |
+
"mask_color": "Gray",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad handle to pick up and hold the toothbrush during brushing",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to orient the brush head toward teeth",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize or place the toothbrush into storage",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support brushing motions",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"stabilize the toothbrush body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large elongated yellow plastic handle with a mostly matte smooth hard surface, rounded tapered shape, shallow ribbed grip texture near the rear, and a brown bear graphic on the upper face.",
|
| 28 |
+
"id": 15,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9897206425666809,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09916558353870641,
|
| 34 |
+
-0.010426048655062914,
|
| 35 |
+
0.027999295154586434
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.029014764844517333,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.797293107118565,
|
| 41 |
+
-0.01093569665720373,
|
| 42 |
+
-0.602795367683647
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9892337322235107,
|
| 48 |
+
"position": [
|
| 49 |
+
0.0879460596916033,
|
| 50 |
+
-0.010382190346717834,
|
| 51 |
+
0.04872039915062487
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.032719925878734867,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.8635989149246659,
|
| 57 |
+
-0.007292667067766989,
|
| 58 |
+
-0.5030637510281061
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9886112809181213,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09890253334015142,
|
| 66 |
+
-0.015509195160120726,
|
| 67 |
+
-0.014060124522075057
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.01909386169966017,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.664162827939722,
|
| 73 |
+
0.009393949954901726,
|
| 74 |
+
-0.747285030047271
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.988315224647522,
|
| 80 |
+
"position": [
|
| 81 |
+
0.1029832312342478,
|
| 82 |
+
-0.03023816319182515,
|
| 83 |
+
0.0010790061205625534
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.00453919272380505,
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"grasp_19": {
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| 615 |
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| 616 |
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}
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| 617 |
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],
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| 618 |
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"quality_check": {
|
| 619 |
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"success": false,
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| 620 |
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"message": "Head annotation wrongly includes bristles and omits visible pink collar; graspability and description mismatch mask/object parts."
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| 621 |
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}
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| 622 |
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}
|
dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9825deef8f7aa32095a882b457feedb5868404c7fdeeb5c878a790cba9ad3bd4
|
| 3 |
+
size 3796984
|
dataset/bathroom_supplies/personal_care/7833210d017e55e9a02edb809f4f7e47/toothbrush_007.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|