Add asset bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/affordance_annot.json +464 -0
- dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.urdf +1 -0
.gitattributes
CHANGED
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@@ -8032,3 +8032,4 @@ dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/afforda
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| 8032 |
dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8033 |
dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8034 |
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8032 |
dataset/bathroom_supplies/personal_care/9be690da3f3958b1b50777d799671b04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8033 |
dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8034 |
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8035 |
+
dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,464 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "razor handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the razor",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while shaving or orienting the razor head",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the handle to place the razor into storage or a charger",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip",
|
| 23 |
+
"support handling",
|
| 24 |
+
"orient the razor",
|
| 25 |
+
"connect to razor head",
|
| 26 |
+
"stabilize during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "An elongated tapered silver-and-black plastic handle with a glossy smooth hard surface, medium-sized and forming the main lower body of the razor, with a visible power button and small printed markings on some views.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9945479035377502,
|
| 33 |
+
"position": [
|
| 34 |
+
0.05110652535222471,
|
| 35 |
+
0.04269171259329596,
|
| 36 |
+
0.09132083423901349
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.1813033466750619,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6789170006140324,
|
| 42 |
+
-0.7001342763938783,
|
| 43 |
+
0.12654168396259283
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9929238557815552,
|
| 49 |
+
"position": [
|
| 50 |
+
0.03992055146954954,
|
| 51 |
+
0.05768465748951712,
|
| 52 |
+
0.08157827623654157
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.2357419713511771,
|
| 56 |
+
"xyz": [
|
| 57 |
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0.6616675633303751,
|
| 58 |
+
-0.6853739676661169,
|
| 59 |
+
0.19205281311532382
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_6": {
|
| 64 |
+
"confidence": 0.9920744895935059,
|
| 65 |
+
"position": [
|
| 66 |
+
0.06379696517251432,
|
| 67 |
+
0.04803992188499251,
|
| 68 |
+
0.08595124550629407
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.21043462810737779,
|
| 72 |
+
"xyz": [
|
| 73 |
+
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|
| 74 |
+
-0.6955039307940658,
|
| 75 |
+
0.15565996751623942
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_7": {
|
| 80 |
+
"confidence": 0.9914528131484985,
|
| 81 |
+
"position": [
|
| 82 |
+
0.05270099430344999,
|
| 83 |
+
0.04383884123490134,
|
| 84 |
+
0.08963880606461316
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.1016564329834663,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6576468226670312,
|
| 90 |
+
0.7179220811739808,
|
| 91 |
+
-0.20433920728009278
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_9": {
|
| 96 |
+
"confidence": 0.9911899566650391,
|
| 97 |
+
"position": [
|
| 98 |
+
0.07018333463929594,
|
| 99 |
+
0.017669945349553018,
|
| 100 |
+
0.09559684165287763
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.09765540766362923,
|
| 104 |
+
"xyz": [
|
| 105 |
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0.6879005989156708,
|
| 106 |
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-0.7188933689687047,
|
| 107 |
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0.021178088165310693
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_10": {
|
| 112 |
+
"confidence": 0.9910334944725037,
|
| 113 |
+
"position": [
|
| 114 |
+
0.041468376060947776,
|
| 115 |
+
0.006263652676352649,
|
| 116 |
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0.1045443705515936
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
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"w": 0.06235647543925965,
|
| 120 |
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"xyz": [
|
| 121 |
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0.6968176252689221,
|
| 122 |
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-0.7144360991103661,
|
| 123 |
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-0.011744248521564075
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_12": {
|
| 128 |
+
"confidence": 0.9908750057220459,
|
| 129 |
+
"position": [
|
| 130 |
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0.039382429560646415,
|
| 131 |
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-0.08908239626362047,
|
| 132 |
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0.050586766679771245
|
| 133 |
+
],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.3649238453634239,
|
| 136 |
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"xyz": [
|
| 137 |
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-0.6133542467298324,
|
| 138 |
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-0.6170882239818286,
|
| 139 |
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-0.331405007395187
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_13": {
|
| 144 |
+
"confidence": 0.9908493757247925,
|
| 145 |
+
"position": [
|
| 146 |
+
0.051587426802143455,
|
| 147 |
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0.023476473381379037,
|
| 148 |
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0.09683203615713865
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.027176562863476104,
|
| 152 |
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"xyz": [
|
| 153 |
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0.6650167255421514,
|
| 154 |
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0.7368874256298218,
|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
+
},
|
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dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3779788
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dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/razor_029.urdf
CHANGED
|
@@ -57,6 +57,7 @@
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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|
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</affordance>
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| 61 |
<quality>
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<PartSegChecker>YES</PartSegChecker>
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| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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| 59 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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</affordance>
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<quality>
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<PartSegChecker>YES</PartSegChecker>
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