Add asset bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/affordance_annot.json +341 -0
- dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/hair_clip_013.urdf +4 -3
.gitattributes
CHANGED
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@@ -5769,4 +5769,4 @@ dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/afforda
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
dataset/bathroom_supplies/personal_care/326389df5f8c5a2b80f00f0d1039eb40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5772 |
-
dataset/bathroom_supplies/personal_care/
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
dataset/bathroom_supplies/personal_care/326389df5f8c5a2b80f00f0d1039eb40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5772 |
+
dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hair clip body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the clip body from the sides to pick up and place the hair clip",
|
| 10 |
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"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
+
"scenario": "hold the clip body while opening the clasp mechanism",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
+
"scenario": "grasp the body to position the clip onto hair or a surface",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"clamp hair",
|
| 24 |
+
"support the spring mechanism",
|
| 25 |
+
"provide structural frame",
|
| 26 |
+
"position and orient the clip"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Elongated slightly curved off-white plastic body with a glossy smooth hard surface, medium size, forming the main frame of the clip with open side cutouts and a tapered profile.",
|
| 29 |
+
"id": 4,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9751592874526978,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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| 40 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9746004343032837,
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| 49 |
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"position": [
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| 50 |
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"orientation": {
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}
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| 62 |
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| 63 |
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"grasp_2": {
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"confidence": 0.9744420051574707,
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"grasp_3": {
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| 80 |
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"confidence": 0.9724875688552856,
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"position": [
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|
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| 95 |
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"grasp_4": {
|
| 96 |
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|
| 97 |
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"orientation": {
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"grasp_5": {
|
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| 319 |
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| 320 |
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},
|
| 321 |
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{
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| 322 |
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"part_name": "decorative beads",
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| 323 |
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| 324 |
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"graspable": false,
|
| 325 |
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| 326 |
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|
| 327 |
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|
| 328 |
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"provide visual accent",
|
| 329 |
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"indicate the top side",
|
| 330 |
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"add ornamental texture"
|
| 331 |
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],
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| 332 |
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"semantic_description": "Small round white bead-like ornaments set along the top ridge, likely smooth glossy plastic or faux pearl with a hard polished surface and some sparkly spacer details.",
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| 333 |
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"id": 6,
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| 334 |
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| 335 |
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}
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],
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| 337 |
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"quality_check": {
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| 338 |
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"success": true,
|
| 339 |
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"message": "YES"
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| 340 |
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| 341 |
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}
|
dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:4f93823721a1d0fb7fcfe7a15c994dcea000a73b81aa8f6b94867992d84ff67e
|
| 3 |
+
size 3782300
|
dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/hair_clip_013.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>2</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 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>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|