xinjjj commited on
Commit
300e31a
·
verified ·
1 Parent(s): e6b2258

Add asset bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5

Browse files
.gitattributes CHANGED
@@ -5817,4 +5817,4 @@ dataset/bathroom_supplies/personal_care/ad2b0971aaad5bd095b41039d85c5e0c/afforda
5817
  dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5818
  dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5819
  dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5820
- dataset/bathroom_supplies/personal_care/b031daf7322c543ba8afcbf6b87004e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5817
  dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5818
  dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5819
  dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5820
+ dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,321 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "clipper body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the body to pick up and reposition the nail clipper",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body steady while actuating the lever",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the body to orient the cutting end toward a nail",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "support the cutting jaws",
24
+ "house the springy clipper arms",
25
+ "stabilize during clipping"
26
+ ],
27
+ "semantic_description": "Elongated silver metal body with a reflective smooth hard surface, slightly curved flat arms forming the lower structure, medium-sized and extending from the pivot end to the cutting jaws.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.7907505631446838,
32
+ "position": [
33
+ -0.10055545810610056,
34
+ 0.011778098296645112,
35
+ 0.016924238589126617
36
+ ],
37
+ "orientation": {
38
+ "w": 0.474275855910638,
39
+ "xyz": [
40
+ 0.586739490170961,
41
+ 0.4930290774350755,
42
+ 0.43326840639223935
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.7830594182014465,
48
+ "position": [
49
+ -0.10222113225609064,
50
+ 0.01024670223546309,
51
+ -0.002304227265994996
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7214644439328556,
55
+ "xyz": [
56
+ -0.023185111891470062,
57
+ 0.688235043752011,
58
+ -0.07269134253061517
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.7828860282897949,
64
+ "position": [
65
+ -0.10287430230528116,
66
+ 0.012241149086776204,
67
+ -7.705384632572532e-05
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5562688171724407,
71
+ "xyz": [
72
+ 0.5066375156540629,
73
+ 0.48973711993135727,
74
+ 0.44050083329636575
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.7750838994979858,
80
+ "position": [
81
+ -0.10036227945238352,
82
+ 0.001639216787452824,
83
+ -0.015136187139432877
84
+ ],
85
+ "orientation": {
86
+ "w": 0.6245282034744224,
87
+ "xyz": [
88
+ 0.3790360611642423,
89
+ 0.5299870759635389,
90
+ 0.43059248334559286
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.7677224278450012,
96
+ "position": [
97
+ -0.101631217636168,
98
+ 0.0020724271873859834,
99
+ 0.002054294047411531
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5457903706078024,
103
+ "xyz": [
104
+ 0.4520954470245268,
105
+ 0.5537990898309045,
106
+ 0.4370688117836291
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.7639415264129639,
112
+ "position": [
113
+ -0.10162749234586954,
114
+ 0.0012461311400784325,
115
+ -0.01031001954106614
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5027046234918258,
119
+ "xyz": [
120
+ 0.49495291534760405,
121
+ 0.46422639135661425,
122
+ 0.5355404099382833
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.7611953020095825,
128
+ "position": [
129
+ -0.09393955115228891,
130
+ -0.001978139394623213,
131
+ 0.03198117093415931
132
+ ],
133
+ "orientation": {
134
+ "w": 0.43265089030973036,
135
+ "xyz": [
136
+ 0.5205851335585893,
137
+ 0.6323542515766108,
138
+ 0.3767392020283639
139
+ ]
140
+ }
141
+ },
142
+ "grasp_9": {
143
+ "confidence": 0.7598460912704468,
144
+ "position": [
145
+ -0.10194469336420298,
146
+ 0.021874071795764394,
147
+ 0.011105195444542915
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5355885160688,
151
+ "xyz": [
152
+ 0.5658137996787892,
153
+ 0.48802885451583633,
154
+ 0.3934812863507393
155
+ ]
156
+ }
157
+ },
158
+ "grasp_10": {
159
+ "confidence": 0.7594473361968994,
160
+ "position": [
161
+ -0.09924797061830759,
162
+ 0.003356243016469307,
163
+ 0.007236552250105888
164
+ ],
165
+ "orientation": {
166
+ "w": 0.44141046666256445,
167
+ "xyz": [
168
+ 0.5772801391528389,
169
+ 0.4541683848887975,
170
+ 0.5153984080572205
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.7581462264060974,
176
+ "position": [
177
+ -0.09926185850054026,
178
+ -0.02263936982649284,
179
+ 0.009299395431298763
180
+ ],
181
+ "orientation": {
182
+ "w": 0.351642505766884,
183
+ "xyz": [
184
+ 0.5315316851292672,
185
+ 0.5189292114975244,
186
+ 0.5696789352751128
187
+ ]
188
+ }
189
+ },
190
+ "grasp_14": {
191
+ "confidence": 0.7534440755844116,
192
+ "position": [
193
+ -0.09887164179235697,
194
+ -0.017580647255954318,
195
+ -0.03100520296720788
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6211616741345867,
199
+ "xyz": [
200
+ 0.2933249096745891,
201
+ 0.5090914927939998,
202
+ 0.5185986154199489
203
+ ]
204
+ }
205
+ },
206
+ "grasp_15": {
207
+ "confidence": 0.7507502436637878,
208
+ "position": [
209
+ -0.10324208531528711,
210
+ 0.009359708752754159,
211
+ -0.016312905761878937
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5657300733987419,
215
+ "xyz": [
216
+ 0.48262131365793093,
217
+ 0.4493311578859138,
218
+ 0.4951036883403827
219
+ ]
220
+ }
221
+ },
222
+ "grasp_16": {
223
+ "confidence": 0.7491642832756042,
224
+ "position": [
225
+ -0.102525451220572,
226
+ -0.008789505112645202,
227
+ -0.007372520107310265
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5120242399710258,
231
+ "xyz": [
232
+ 0.4405378392627139,
233
+ 0.5263895915268525,
234
+ 0.5164025443314801
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.7447998523712158,
240
+ "position": [
241
+ -0.09896828327327967,
242
+ -0.0046827311177821684,
243
+ -0.005729010968934745
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5165289754856167,
247
+ "xyz": [
248
+ 0.4558568652035255,
249
+ 0.5154287527363705,
250
+ 0.5096327469690536
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "lever",
258
+ "mask_color": "Green",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp the lever to rotate and open or close the clipper",
263
+ "confidence": 0.78
264
+ },
265
+ {
266
+ "scenario": "pinch the lever to actuate the clipper while another gripper stabilizes the body",
267
+ "confidence": 0.74
268
+ },
269
+ {
270
+ "scenario": "grasp the lever for light repositioning of the small tool",
271
+ "confidence": 0.42
272
+ }
273
+ ],
274
+ "functional_labels": [
275
+ "press to cut nails",
276
+ "provide mechanical leverage",
277
+ "open and close the jaws",
278
+ "transmit force to the cutter"
279
+ ],
280
+ "semantic_description": "Slim silver metal lever with a reflective smooth hard finish, long and tapered, mounted on top of the body near the pivot and sometimes showing small engraved markings.",
281
+ "id": 1,
282
+ "grasp_group": {
283
+ "grasp_27": {
284
+ "confidence": 0.6579212546348572,
285
+ "position": [
286
+ -0.09768390003591776,
287
+ 0.0071993109288541746,
288
+ -0.012691685173194855
289
+ ],
290
+ "orientation": {
291
+ "w": 0.5272301421639708,
292
+ "xyz": [
293
+ -0.4238246098452943,
294
+ 0.46906578591858294,
295
+ -0.5677837315068341
296
+ ]
297
+ }
298
+ }
299
+ }
300
+ },
301
+ {
302
+ "part_name": "pivot pin",
303
+ "mask_color": "Purple",
304
+ "graspable": false,
305
+ "grasp_scenarios": [],
306
+ "functional_labels": [
307
+ "connect lever to body",
308
+ "act as rotation axis",
309
+ "retain the lever",
310
+ "enable folding motion"
311
+ ],
312
+ "semantic_description": "Tiny round silver metal pin with a glossy smooth hard surface, located near the top pivot area as a small raised fastener connecting the lever to the clipper body.",
313
+ "id": 5,
314
+ "grasp_group": {}
315
+ }
316
+ ],
317
+ "quality_check": {
318
+ "success": true,
319
+ "message": "YES"
320
+ }
321
+ }
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f21a517fa66d296805205a58176c7c5477f1e801a052eaf6fa228bc72e02f32
3
+ size 3780400
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>