Add asset bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/affordance_annot.json +326 -0
- dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/hair_clip_040.urdf +4 -3
.gitattributes
CHANGED
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@@ -7996,3 +7996,4 @@ dataset/bathroom_supplies/personal_care/7cde81fa467d56d8ac78550de8eb1ca9/afforda
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| 7996 |
dataset/bathroom_supplies/personal_care/7ce551f19d0f59aea65cbc49d7f7f4bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7997 |
dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7998 |
dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7996 |
dataset/bathroom_supplies/personal_care/7ce551f19d0f59aea65cbc49d7f7f4bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7997 |
dataset/bathroom_supplies/personal_care/7ef0b600a22459c7a90a5ebcc79ab1f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7998 |
dataset/bathroom_supplies/personal_care/7fd6037f94005ad9a792ebbca1480708/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7999 |
+
dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hair clip body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the curved body while opening or placing the clip in hair",
|
| 14 |
+
"confidence": 0.85
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the body to stabilize the clip during storage or handoff",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"clamp hair",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support the spring mechanism",
|
| 25 |
+
"secure hair in place",
|
| 26 |
+
"provide structure for the decorative top beads"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Elongated curved light gold or beige plastic hair clip body with a glossy smooth surface, medium size, featuring rows of white pearl-like beads on top and comb-like inner teeth underneath, plus a small crest-like decorative emblem near one end.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9798616170883179,
|
| 33 |
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"position": [
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| 34 |
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| 37 |
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],
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"orientation": {
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| 40 |
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"xyz": [
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| 43 |
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| 44 |
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| 45 |
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}
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| 46 |
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},
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| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9760505557060242,
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| 49 |
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| 96 |
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dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:c90cbd42413281459be87f4c14e7421ea1410e37261992fa5a6db642d65c4714
|
| 3 |
+
size 3780120
|
dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/hair_clip_040.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>2</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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 |
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<PartSegChecker>YES</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|