Add asset bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/affordance_annot.json +421 -0
- dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/nail_clipper_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -5834,3 +5834,4 @@ dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/afforda
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| 5834 |
dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5835 |
dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5834 |
dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5835 |
dataset/bathroom_supplies/personal_care/c1c73fc7295b542bbbeb80454f169727/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5836 |
dataset/bathroom_supplies/personal_care/c2f129502b6b58debce3a798d6afb35d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5837 |
+
dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,421 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lever handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the folding lever to rotate and actuate the nail clipper",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the lever to lift or reposition the clipper",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the lever as a temporary top grip while stabilizing the clipper body",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide actuation leverage",
|
| 23 |
+
"press the cutting jaws closed",
|
| 24 |
+
"open and close the clipper mechanism",
|
| 25 |
+
"serve as a top grip surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long narrow silver metal lever with a reflective finish and stamped crosshatch texture on top, mounted above the clipper body as the main movable handle.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9400665760040283,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.004693926173786167,
|
| 34 |
+
-0.10978250415064394,
|
| 35 |
+
-0.009174221297143959
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7397930630257011,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6599594333366758,
|
| 41 |
+
-0.07659993391078868,
|
| 42 |
+
-0.10626485954372517
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_10": {
|
| 47 |
+
"confidence": 0.7477891445159912,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.016896609078685287,
|
| 50 |
+
0.10537918447516859,
|
| 51 |
+
0.02244989098107908
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4649713482649755,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6022969783735762,
|
| 57 |
+
-0.46718810449476667,
|
| 58 |
+
0.45030575185455657
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_13": {
|
| 63 |
+
"confidence": 0.7340415716171265,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03319042534712935,
|
| 66 |
+
0.09917890815995634,
|
| 67 |
+
0.03905241833126638
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5472266087861599,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.8101228523132354,
|
| 73 |
+
-0.03872725653740028,
|
| 74 |
+
0.20674671072922415
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_15": {
|
| 79 |
+
"confidence": 0.7262685298919678,
|
| 80 |
+
"position": [
|
| 81 |
+
0.005033288289268967,
|
| 82 |
+
0.10147451399825513,
|
| 83 |
+
0.04399733514583204
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.49145554733805336,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6785862443772044,
|
| 89 |
+
-0.4715432167818274,
|
| 90 |
+
0.27502572359643507
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_16": {
|
| 95 |
+
"confidence": 0.7155421376228333,
|
| 96 |
+
"position": [
|
| 97 |
+
0.013609974783321377,
|
| 98 |
+
0.10382242291234434,
|
| 99 |
+
0.028160664151073433
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.17995840323283982,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.13856327325363887,
|
| 105 |
+
-0.7734662229597977,
|
| 106 |
+
0.5917475765488424
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_17": {
|
| 111 |
+
"confidence": 0.7080097198486328,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.02095994525734568,
|
| 114 |
+
0.1039203756954521,
|
| 115 |
+
0.014048674041987397
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4492809640048948,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.4318045142696629,
|
| 121 |
+
0.6198221778840683,
|
| 122 |
+
-0.4769821219314448
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "body arm with slot opening",
|
| 130 |
+
"mask_color": "Green",
|
| 131 |
+
"graspable": true,
|
| 132 |
+
"grasp_scenarios": [
|
| 133 |
+
{
|
| 134 |
+
"scenario": "grasp this body arm to pick up the clipper when the lever is folded",
|
| 135 |
+
"confidence": 0.75
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "hold this side of the body to stabilize the clipper while actuating the lever",
|
| 139 |
+
"confidence": 0.72
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"provide structural body support",
|
| 144 |
+
"form one side of the clipper body",
|
| 145 |
+
"help guide jaw alignment",
|
| 146 |
+
"support the cutting assembly"
|
| 147 |
+
],
|
| 148 |
+
"semantic_description": "Silver metal body arm with a smooth reflective finish and elongated tapered shape, forming one structural half of the clipper body; visible on the side opposite the hanging-hole arm in several views.",
|
| 149 |
+
"id": 1,
|
| 150 |
+
"grasp_group": {
|
| 151 |
+
"grasp_28": {
|
| 152 |
+
"confidence": 0.7993938326835632,
|
| 153 |
+
"position": [
|
| 154 |
+
0.014084751855989452,
|
| 155 |
+
-0.11551489890553057,
|
| 156 |
+
-0.027083235894679092
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.7615497429233908,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.5795013521851183,
|
| 162 |
+
-0.22036729571431346,
|
| 163 |
+
-0.18883439000483196
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_29": {
|
| 168 |
+
"confidence": 0.7953769564628601,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.012666924718359951,
|
| 171 |
+
-0.10911566228605807,
|
| 172 |
+
0.02210707114136312
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.2987418080914088,
|
| 176 |
+
"xyz": [
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{
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}
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}
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},
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| 386 |
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{
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| 387 |
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"part_name": "pivot pin",
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| 388 |
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| 389 |
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|
| 390 |
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|
| 391 |
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"functional_labels": [
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| 392 |
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"join the lever to the body",
|
| 393 |
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"act as a rotation pivot",
|
| 394 |
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"retain the lever in place",
|
| 395 |
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"transmit pressing force"
|
| 396 |
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],
|
| 397 |
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"semantic_description": "Small rounded silver metal pin at the hinge area with a shiny smooth surface, connecting the lever to the clipper body near the jaw end.",
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| 398 |
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"id": 3,
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| 399 |
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| 400 |
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},
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| 401 |
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{
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| 402 |
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"part_name": "cutting jaws",
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| 403 |
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"mask_color": "Cyan",
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| 404 |
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"graspable": false,
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| 405 |
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|
| 406 |
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| 407 |
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"cut nails",
|
| 408 |
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"form the clipping edge",
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| 409 |
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"apply concentrated shear force",
|
| 410 |
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"define the working tip"
|
| 411 |
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],
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| 412 |
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"semantic_description": "Thin paired silver metal cutting edges at the front end with reflective hard surfaces and curved sharp tips, forming the clipper mouth.",
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| 413 |
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"id": 6,
|
| 414 |
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"grasp_group": {}
|
| 415 |
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}
|
| 416 |
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],
|
| 417 |
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"quality_check": {
|
| 418 |
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"success": false,
|
| 419 |
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"message": "Blue and green body-arm identities are swapped relative to mask and visible hole/slot features."
|
| 420 |
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}
|
| 421 |
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}
|
dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:df241f24e42232b5debb3675e28f652619e40518caf4dbebb54a79707b26e0c1
|
| 3 |
+
size 3790648
|
dataset/bathroom_supplies/personal_care/c2f91b6333955e97b87dae69c7917dd3/nail_clipper_002.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>
|