Add asset bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/affordance_annot.json +475 -0
- dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/nail_clipper_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -7970,4 +7970,4 @@ dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/afforda
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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7972 |
dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7973 |
-
dataset/bathroom_supplies/personal_care/
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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7972 |
dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7973 |
+
dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,475 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper lever",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upper lever to pick up the nail clipper from a table",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper lever to stabilize and orient the clipper before clipping",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the upper lever against the lower arm to keep the clipper closed during handling",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a main grip surface",
|
| 23 |
+
"press to actuate clipping",
|
| 24 |
+
"stabilize the tool during handling",
|
| 25 |
+
"cover the upper side of the clipper"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long slim metallic lever with an iridescent blue-purple reflective finish, hard smooth texture, rounded tip, and a chevron-like textured grip area on the top surface.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.7387019991874695,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0026847981971513946,
|
| 34 |
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-0.10264085326343775,
|
| 35 |
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-0.00617396819870919
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7456415708823846,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.6659822739232019,
|
| 41 |
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0.0012636787084504553,
|
| 42 |
+
0.022015033687289128
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.7367374897003174,
|
| 48 |
+
"position": [
|
| 49 |
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0.0006410609239537735,
|
| 50 |
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-0.10428011510521173,
|
| 51 |
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-0.00735716603230685
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.7330279825694833,
|
| 55 |
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"xyz": [
|
| 56 |
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-0.656806297786873,
|
| 57 |
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0.12870602027141353,
|
| 58 |
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0.12128571351775033
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.7034093141555786,
|
| 64 |
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"position": [
|
| 65 |
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0.0010832234875124414,
|
| 66 |
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-0.10365439299494028,
|
| 67 |
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-0.005005022860132158
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.7403890375435289,
|
| 71 |
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"xyz": [
|
| 72 |
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-0.6659902944960076,
|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.7005554437637329,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0004858143402088899,
|
| 82 |
+
-0.1097242021933198,
|
| 83 |
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-0.004562012734822929
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7374172074090976,
|
| 87 |
+
"xyz": [
|
| 88 |
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-0.6748453181877403,
|
| 89 |
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0.02091079592054812,
|
| 90 |
+
0.01903673687963426
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.6796011328697205,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0036042350002389867,
|
| 98 |
+
-0.10576600674539804,
|
| 99 |
+
-0.006627023569308221
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7384673592382701,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.6608782545189833,
|
| 105 |
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0.09477333037655056,
|
| 106 |
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0.09446643791810326
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.6758981943130493,
|
| 112 |
+
"position": [
|
| 113 |
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0.012093440269381972,
|
| 114 |
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-0.10223592910915613,
|
| 115 |
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-0.0016156189376488328
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.7280402231441361,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.6831962549332188,
|
| 121 |
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-0.0009433718789015888,
|
| 122 |
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0.05656342262415593
|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
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"grasp_7": {
|
| 127 |
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"confidence": 0.6748033761978149,
|
| 128 |
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"position": [
|
| 129 |
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0.011726571818144294,
|
| 130 |
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-0.10083215776830912,
|
| 131 |
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-0.01238235819619149
|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.7468451116959196,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.6468047643503833,
|
| 137 |
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0.06533477533621201,
|
| 138 |
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0.1399905106831206
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
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"grasp_8": {
|
| 143 |
+
"confidence": 0.6746325492858887,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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-0.10403157863765955,
|
| 147 |
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-0.00518892880063504
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.733847042346602,
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| 434 |
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],
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"semantic_description": "Small rounded metallic pivot feature near the jaw end, visible as a shiny gold-toned post with a blue-purple reflective cap area, compact and smooth.",
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],
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"semantic_description": "Tiny circular metal fastener on the side of the lower body, with a brass-gold reflective finish, hard smooth texture, and flush low-profile shape.",
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{
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],
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"semantic_description": "Very small narrow light-colored metallic slot on the side of the lower arm near the jaw end, appearing as a short slim rectangular mark with a smooth finish.",
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| 467 |
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],
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| 472 |
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"success": false,
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| 473 |
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"message": "Magenta part is a nail file strip, not a side slot; orange rivet only visible in some views and description/functions need correction."
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| 474 |
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}
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| 475 |
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}
|
dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e7342f09b0da4311beb25dc8bfc8b362208926f750978be288a81795d96d858c
|
| 3 |
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size 3769024
|
dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/nail_clipper_001.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|