Add asset bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/affordance/affordance_annot.json +566 -0
- dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/toothbrush_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -8035,3 +8035,4 @@ dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/afforda
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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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| 8036 |
dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8037 |
dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/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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| 8036 |
dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8037 |
dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8038 |
+
dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,566 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the toothbrush during use",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to reposition the toothbrush for storage or handoff",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize and orient the toothbrush",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house the toothbrush body",
|
| 24 |
+
"enable manipulation during brushing",
|
| 25 |
+
"provide reach and leverage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large cylindrical white plastic handle with a smooth semi-gloss surface, rounded end, and simple clean appearance forming the main rear body of the toothbrush.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_3": {
|
| 31 |
+
"confidence": 0.9894395470619202,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.01002112915739417,
|
| 34 |
+
0.007087281555868685,
|
| 35 |
+
-0.09603221190627664
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6970471671662709,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.03645018083029533,
|
| 41 |
+
0.03943999223091821,
|
| 42 |
+
-0.7150112712927961
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9893752336502075,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0396788502112031,
|
| 50 |
+
0.0782629755558446,
|
| 51 |
+
0.040090893977321684
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.2045444011234785,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6686706115252345,
|
| 57 |
+
-0.5009944572343398,
|
| 58 |
+
0.5099468159249311
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_5": {
|
| 63 |
+
"confidence": 0.9892334938049316,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.04633846413344145,
|
| 66 |
+
0.08919881109613925,
|
| 67 |
+
-0.005634621600620449
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3871318457455003,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5749140398915825,
|
| 73 |
+
-0.37372566433644716,
|
| 74 |
+
0.6163861683729636
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_9": {
|
| 79 |
+
"confidence": 0.9889962673187256,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.04511185456067324,
|
| 82 |
+
0.08732944552320987,
|
| 83 |
+
-0.004244197043590248
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3740032891340179,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.5929406772241805,
|
| 89 |
+
-0.3540726840182664,
|
| 90 |
+
0.6190116537206445
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_10": {
|
| 95 |
+
"confidence": 0.988978922367096,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.0010441821068525314,
|
| 98 |
+
0.09510490868706256,
|
| 99 |
+
0.020817344659008086
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.45098832542431144,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5552805581982345,
|
| 105 |
+
0.5509239834893127,
|
| 106 |
+
-0.42983228872933726
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_11": {
|
| 111 |
+
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-0.5524084399012642,
|
| 523 |
+
0.4364848008823744,
|
| 524 |
+
-0.5460320003893108
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_39": {
|
| 529 |
+
"confidence": 0.3751470446586609,
|
| 530 |
+
"position": [
|
| 531 |
+
-0.16289848368614912,
|
| 532 |
+
0.0021353703923523426,
|
| 533 |
+
0.0005781667568953708
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.30521634944624115,
|
| 537 |
+
"xyz": [
|
| 538 |
+
-0.6519686763392485,
|
| 539 |
+
0.30117173010448894,
|
| 540 |
+
-0.6253602274601636
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
}
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"part_name": "bristles",
|
| 548 |
+
"mask_color": "Maroon",
|
| 549 |
+
"graspable": false,
|
| 550 |
+
"grasp_scenarios": [],
|
| 551 |
+
"functional_labels": [
|
| 552 |
+
"scrub teeth surfaces",
|
| 553 |
+
"clean along gumline",
|
| 554 |
+
"remove plaque",
|
| 555 |
+
"contact oral surfaces"
|
| 556 |
+
],
|
| 557 |
+
"semantic_description": "Dense cluster of short toothbrush bristles on the head, mostly blue with some white rows, showing a fine slightly flexible texture in an upright tufted arrangement on the small oval tip.",
|
| 558 |
+
"id": 12,
|
| 559 |
+
"grasp_group": {}
|
| 560 |
+
}
|
| 561 |
+
],
|
| 562 |
+
"quality_check": {
|
| 563 |
+
"success": true,
|
| 564 |
+
"message": "YES"
|
| 565 |
+
}
|
| 566 |
+
}
|
dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:504fdfd532e9e54f58449830a3b1aee9cb478402eb62036bde79082ffbb3ff78
|
| 3 |
+
size 3236764
|
dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/toothbrush_012.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>
|