dataset_info.json

{
  "schema": "no_rot_executed_cba_v2",
  "contact_method": "C_width_match_adjacent_B_A_fallback",
  "tcp_offset": 0.105,
  "width_mismatch_abs": 0.02,
  "width_mismatch_rel": 0.35,
  "merged_dir": "/home/vision/Project/Affordance2Grasp/output/grasp_collect_no_rot/merged",
  "with_hp": true,
  "n_objects": 89,
  "total_grasps_trusted": 5353,
  "total_grasps_used": 5335,
  "total_method_c": 3165,
  "total_method_b": 1542,
  "total_method_a": 628,
  "train_objects": 71,
  "val_objects": 18,
  "all_objects": 89,
  "num_points": 4096,
  "contact_radius": 0.005,
  "train_ratio": 0.8,
  "write_split": false,
  "heatmap_sigma_ratio": 0.03,
  "with_soft": true,
  "outputs": {
    "affordance_all_h5": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed/affordance_all.h5",
    "affordance_all_soft_h5": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed/affordance_all_soft.h5",
    "affordance_train_h5": null,
    "affordance_val_h5": null
  },
  "soft_exports": [
    {
      "source": "affordance_all.h5",
      "output": "affordance_all_soft.h5",
      "num_samples": 89,
      "heatmap_sigma_ratio": 0.03,
      "sigma_m_min": 0.00346827763132751,
      "sigma_m_max": 0.011007514782249928,
      "sigma_m_mean": 0.005883803591132164,
      "soft_max_mean": 1.0,
      "soft_mean_mean": 0.20397445559501648,
      "contact_frac_mean": 0.08890559164325842,
      "objects": [
        "A01001",
        "A01002",
        "A01005",
        "A01006",
        "A01008",
        "A01009",
        "A01010",
        "A01023",
        "A01026",
        "A01027",
        "A02011",
        "A02012",
        "A02014",
        "A02015",
        "A02018",
        "A02021",
        "A02028",
        "A02029",
        "A02030",
        "A02031",
        "A15015",
        "A15027",
        "A16012",
        "A16013",
        "A16026",
        "C03001",
        "C10001",
        "C12001",
        "C14001",
        "C15001",
        "C22001",
        "C28001",
        "C35001",
        "C43001",
        "C50001",
        "C51001",
        "C52001",
        "C90001",
        "O01000",
        "O02001",
        "O03001",
        "O03002",
        "O03003",
        "O21001",
        "O24001",
        "O36001",
        "O36002",
        "O93001",
        "S10005",
        "S10007",
        "S10008",
        "S10010",
        "S10011",
        "S10013",
        "S10014",
        "S10015",
        "S10017",
        "S10018",
        "S10019",
        "S10020",
        "S10022",
        "S15004",
        "S16001",
        "S16002",
        "S16003",
        "S16005",
        "S20001",
        "S20005",
        "S20021",
        "S20022",
        "Y03006",
        "Y03021",
        "Y27035",
        "Y29040",
        "Y35037",
        "ycb_dex_01",
        "ycb_dex_02",
        "ycb_dex_03",
        "ycb_dex_04",
        "ycb_dex_05",
        "ycb_dex_06",
        "ycb_dex_07",
        "ycb_dex_08",
        "ycb_dex_11",
        "ycb_dex_12",
        "ycb_dex_14",
        "ycb_dex_15",
        "ycb_dex_17",
        "ycb_dex_18"
      ]
    }
  ],
  "avg_positive_ratio": 0.08890559164325842,
  "generation_time_seconds": 251.8,
  "skipped_count": 8,
  "skipped": [
    "A02032: no trusted grasps or all dropped",
    "C13001: no trusted grasps or all dropped",
    "C40001: no trusted grasps or all dropped",
    "C41001: no trusted grasps or all dropped",
    "C42001: no trusted grasps or all dropped",
    "O50002: no trusted grasps or all dropped",
    "O50001: no trusted grasps or all dropped",
    "ycb_dex_19: no trusted grasps or all dropped"
  ]
}