Add asset bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/affordance_annot.json +318 -0
- dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/hair_clip_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -8023,4 +8023,4 @@ dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/afforda
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| 8023 |
dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8024 |
dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8025 |
dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8026 |
-
dataset/bathroom_supplies/personal_care/
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| 8023 |
dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8024 |
dataset/bathroom_supplies/personal_care/956101a9c7da53c793c0e9a7fee8c271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8025 |
dataset/bathroom_supplies/personal_care/96988fac795a5718986a162b82308e90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8026 |
+
dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer clip body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the outer clip body from the sides to pick up and reposition the hair clip",
|
| 10 |
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"confidence": 0.92
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the outer clip body while squeezing the rear press area to open the clip",
|
| 14 |
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"confidence": 0.85
|
| 15 |
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},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the tapered front of the outer clip body to guide placement into hair",
|
| 18 |
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"confidence": 0.73
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
+
"outer clamping arm",
|
| 24 |
+
"guide clip placement",
|
| 25 |
+
"provide overall structure",
|
| 26 |
+
"cover the inner gripping section"
|
| 27 |
+
],
|
| 28 |
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"semantic_description": "Elongated black plastic clip body with a smooth matte-to-semi-gloss finish, broad rectangular rear press end, tapered front, and a long central triangular cutout along the top.",
|
| 29 |
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"id": 0,
|
| 30 |
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"grasp_group": {
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| 31 |
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|
| 32 |
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| 33 |
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| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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"confidence": 0.6715792417526245,
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"position": [
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| 224 |
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"confidence": 0.5974301695823669,
|
| 225 |
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"position": [
|
| 226 |
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0.10924196150153875,
|
| 227 |
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-0.001619761751499027,
|
| 228 |
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0.011044041602872312
|
| 229 |
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],
|
| 230 |
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"orientation": {
|
| 231 |
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"w": 0.35579187900582293,
|
| 232 |
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"xyz": [
|
| 233 |
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-0.6399867151448527,
|
| 234 |
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-0.35319516760911096,
|
| 235 |
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0.5823077509781055
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
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},
|
| 239 |
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"grasp_17": {
|
| 240 |
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"confidence": 0.589413046836853,
|
| 241 |
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"position": [
|
| 242 |
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|
| 243 |
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| 244 |
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|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.3472614930519873,
|
| 248 |
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"xyz": [
|
| 249 |
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-0.6321564174333826,
|
| 250 |
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|
| 251 |
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|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
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"grasp_18": {
|
| 256 |
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"confidence": 0.5835027098655701,
|
| 257 |
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"position": [
|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.5943900531267085,
|
| 264 |
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"xyz": [
|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
+
"grasp_19": {
|
| 272 |
+
"confidence": 0.5780118107795715,
|
| 273 |
+
"position": [
|
| 274 |
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0.09635294135659933,
|
| 275 |
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0.030919658893253654,
|
| 276 |
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|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.44081620811087346,
|
| 280 |
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"xyz": [
|
| 281 |
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0.6234397511142469,
|
| 282 |
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|
| 283 |
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|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
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}
|
| 287 |
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}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "inner gripping jaw",
|
| 291 |
+
"mask_color": "Maroon",
|
| 292 |
+
"graspable": false,
|
| 293 |
+
"grasp_scenarios": [
|
| 294 |
+
{
|
| 295 |
+
"scenario": "use the inner gripping jaw only as a minor contact point while the robot primarily holds the outer body during precise placement",
|
| 296 |
+
"confidence": 0.34
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"scenario": "briefly touch the toothed lower jaw for stabilization when the outer body is partially obstructed",
|
| 300 |
+
"confidence": 0.22
|
| 301 |
+
}
|
| 302 |
+
],
|
| 303 |
+
"functional_labels": [
|
| 304 |
+
"clamp hair",
|
| 305 |
+
"provide opposing grip surface",
|
| 306 |
+
"retain hair with ribbed teeth",
|
| 307 |
+
"support opening and closing motion"
|
| 308 |
+
],
|
| 309 |
+
"semantic_description": "Dark reddish-brown to maroon inner jaw beneath the outer body, with a slim elongated shape and a row of ribbed gripping teeth visible along the lower inside of the clip.",
|
| 310 |
+
"id": 12,
|
| 311 |
+
"grasp_group": {}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"quality_check": {
|
| 315 |
+
"success": false,
|
| 316 |
+
"message": "Mask colors and semantic color for inner jaw are incorrect; object appears light gray, not black/maroon."
|
| 317 |
+
}
|
| 318 |
+
}
|
dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7d1c73419ae4905196213994b94eef3e0a170fc2e6ce407bba54c16d4a35aaae
|
| 3 |
+
size 3816268
|
dataset/bathroom_supplies/personal_care/984551c53afe51798674ed479b1be71f/hair_clip_025.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>
|