Add asset bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/affordance_annot.json +321 -0
- dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/nail_clipper_023.urdf +1 -0
.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/
|
|
|
|
| 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>
|