Add asset bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/affordance_annot.json +585 -0
- dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/hair_clip_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -5805,3 +5805,4 @@ dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/afforda
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| 5805 |
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5806 |
dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5807 |
dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5805 |
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5806 |
dataset/bathroom_supplies/personal_care/a3055e03d50b5db19a26cf0cea3bc768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5807 |
dataset/bathroom_supplies/personal_care/a3dfefb9c3135e76a6f8c1d97d161a24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5808 |
+
dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,585 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper jaw",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one side of the clip by the upper jaw to pick up and reposition it",
|
| 10 |
+
"confidence": 0.63
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the upper jaw against the lower jaw to stabilize the clip during placement",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"form one clamping side",
|
| 19 |
+
"press against the opposite jaw",
|
| 20 |
+
"help hold hair in place",
|
| 21 |
+
"provide outer gripping surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Long white plastic jaw with a matte smooth hard surface, gently wavy profile, medium size along the top side of the clip, and faint printed text visible on some views.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8197624683380127,
|
| 28 |
+
"position": [
|
| 29 |
+
0.06059076962992549,
|
| 30 |
+
0.0520645450160373,
|
| 31 |
+
0.08866609050892293
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.2764319781481843,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6635825613205165,
|
| 37 |
+
0.6879069140932258,
|
| 38 |
+
-0.10013802130619523
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.7998958230018616,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0661676456220448,
|
| 46 |
+
-0.0007861309277359396,
|
| 47 |
+
0.09442608221434057
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.16546448452818052,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6959683775984481,
|
| 53 |
+
0.6734783842874671,
|
| 54 |
+
0.18621597042238358
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.7933598756790161,
|
| 60 |
+
"position": [
|
| 61 |
+
0.05460551334545016,
|
| 62 |
+
0.04594654173706658,
|
| 63 |
+
0.092496627708897
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.21436999011482788,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6884687560436304,
|
| 69 |
+
-0.6874164490205114,
|
| 70 |
+
0.08668855118142801
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.7933590412139893,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.06490388186648488,
|
| 78 |
+
-0.007416169595671818,
|
| 79 |
+
0.08797350688837469
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.22656005272613636,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6791081582181312,
|
| 85 |
+
0.676122142861669,
|
| 86 |
+
-0.17418811636404116
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.7669692039489746,
|
| 92 |
+
"position": [
|
| 93 |
+
0.028325687628239393,
|
| 94 |
+
-0.0019519686175044626,
|
| 95 |
+
0.09608443989418447
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.14302395682495958,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.6905907226503669,
|
| 101 |
+
-0.6870401820167278,
|
| 102 |
+
-0.17494110396873055
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|
| 514 |
+
},
|
| 515 |
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"grasp_36": {
|
| 516 |
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"confidence": 0.3986302614212036,
|
| 517 |
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"position": [
|
| 518 |
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-0.11014958890154958,
|
| 519 |
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0.04194955856655724,
|
| 520 |
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-0.08597387955524027
|
| 521 |
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],
|
| 522 |
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"orientation": {
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| 523 |
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"w": 0.7082092413813925,
|
| 524 |
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"xyz": [
|
| 525 |
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-0.03579541450285362,
|
| 526 |
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0.2945926851896289,
|
| 527 |
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-0.6406040185288611
|
| 528 |
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]
|
| 529 |
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}
|
| 530 |
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},
|
| 531 |
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"grasp_37": {
|
| 532 |
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"confidence": 0.3894006907939911,
|
| 533 |
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"position": [
|
| 534 |
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|
| 535 |
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0.03756358430837281,
|
| 536 |
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-0.0937758965883404
|
| 537 |
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],
|
| 538 |
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"orientation": {
|
| 539 |
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"w": 0.6837785956391526,
|
| 540 |
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"xyz": [
|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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]
|
| 545 |
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}
|
| 546 |
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},
|
| 547 |
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"grasp_38": {
|
| 548 |
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"confidence": 0.339999794960022,
|
| 549 |
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"position": [
|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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],
|
| 554 |
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"orientation": {
|
| 555 |
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"w": 0.721862637453255,
|
| 556 |
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"xyz": [
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
+
]
|
| 561 |
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}
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
{
|
| 566 |
+
"part_name": "jaw teeth",
|
| 567 |
+
"mask_color": "Blue",
|
| 568 |
+
"graspable": false,
|
| 569 |
+
"grasp_scenarios": [],
|
| 570 |
+
"functional_labels": [
|
| 571 |
+
"increase grip on hair",
|
| 572 |
+
"interlock the jaws",
|
| 573 |
+
"prevent slipping",
|
| 574 |
+
"concentrate clamping contact"
|
| 575 |
+
],
|
| 576 |
+
"semantic_description": "Small white plastic tooth ridge with a matte hard surface and fine evenly spaced serrations lining the inner jaw edge near the clip opening.",
|
| 577 |
+
"id": 2,
|
| 578 |
+
"grasp_group": {}
|
| 579 |
+
}
|
| 580 |
+
],
|
| 581 |
+
"quality_check": {
|
| 582 |
+
"success": true,
|
| 583 |
+
"message": "YES"
|
| 584 |
+
}
|
| 585 |
+
}
|
dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01d75a6c3b30b261bd4e489290649b158e96f1d4324e5337bf162a02ae5aaad3
|
| 3 |
+
size 3780880
|
dataset/bathroom_supplies/personal_care/a3ede0c033175511b191a0ad9525456d/hair_clip_015.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 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>
|