Add asset bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/affordance/affordance_annot.json +262 -0
- dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/hair_clip_037.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5740,3 +5740,4 @@ dataset/bathroom_supplies/personal_care/0fcf562dd5165bc6b779ea75c9df2552/afforda
|
|
| 5740 |
dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5741 |
dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5742 |
dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5740 |
dataset/bathroom_supplies/personal_care/101f6a7161e5535db99766879e3d51da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5741 |
dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5742 |
dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5743 |
+
dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hair clip body",
|
| 5 |
+
"mask_color": "Olive",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer body to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the side arms to open or close the clip during placement",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the curved jaws to stabilize the clip while aligning it with hair",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"clamp hair",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"open and close around hair",
|
| 25 |
+
"hold hair in place",
|
| 26 |
+
"support spring-loaded attachment"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A medium-sized butterfly-style claw clip body in dark burgundy plastic with a smooth slightly glossy finish, hard texture, curved elongated jaws with interlocking teeth, rounded top tabs, and small gold-tone hardware visible near the hinge.",
|
| 29 |
+
"id": 14,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9535629749298096,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.010996920645993669,
|
| 35 |
+
0.013738965761149302,
|
| 36 |
+
-0.1078963743057102
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6930837267238016,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.049797930377356234,
|
| 42 |
+
-0.05678081585115602,
|
| 43 |
+
0.7168898470700052
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.953190803527832,
|
| 49 |
+
"position": [
|
| 50 |
+
0.0017476413559052162,
|
| 51 |
+
0.010074856836581603,
|
| 52 |
+
-0.10539316548965871
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7217580561626336,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.04233828056715917,
|
| 58 |
+
-0.041272489472188756,
|
| 59 |
+
0.6896153710407863
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9515200257301331,
|
| 65 |
+
"position": [
|
| 66 |
+
0.021555475301283877,
|
| 67 |
+
-0.0072758922760840505,
|
| 68 |
+
-0.10453926934860647
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6943712318507745,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.07851560277308565,
|
| 74 |
+
-0.10526026305228953,
|
| 75 |
+
-0.707533864575668
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9511693716049194,
|
| 81 |
+
"position": [
|
| 82 |
+
0.024040188051003497,
|
| 83 |
+
-0.004163932375377044,
|
| 84 |
+
-0.10365325375460088
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6888943820907171,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.11234313374522215,
|
| 90 |
+
-0.09009142928821123,
|
| 91 |
+
0.7104133198307593
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_7": {
|
| 96 |
+
"confidence": 0.9505595564842224,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.03169370315299602,
|
| 99 |
+
-0.002496584871551022,
|
| 100 |
+
-0.10584987117908895
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6860233732745147,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.0527615961211035,
|
| 106 |
+
0.03940840056429129,
|
| 107 |
+
-0.7245930742566983
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_8": {
|
| 112 |
+
"confidence": 0.9502306580543518,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.0075592367284116335,
|
| 115 |
+
-0.05533019811264239,
|
| 116 |
+
-0.08486660732887685
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.7214312150389908,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.30222423565066214,
|
| 122 |
+
0.08905291760131384,
|
| 123 |
+
0.616658001828754
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_10": {
|
| 128 |
+
"confidence": 0.9491230845451355,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.02383821516559692,
|
| 131 |
+
-0.039681505266344175,
|
| 132 |
+
-0.09994781180284917
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6615234233274195,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.12200762163447561,
|
| 138 |
+
-0.13545932540141925,
|
| 139 |
+
-0.7274281214072376
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_12": {
|
| 144 |
+
"confidence": 0.9486468434333801,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.02774238272832008,
|
| 147 |
+
0.013730212260270491,
|
| 148 |
+
-0.10714247240684927
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7240227417241387,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.0489991174028096,
|
| 154 |
+
0.06798448976512705,
|
| 155 |
+
-0.6846665357028789
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_13": {
|
| 160 |
+
"confidence": 0.9477859735488892,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.03308557591662975,
|
| 163 |
+
-0.008220017742132768,
|
| 164 |
+
-0.1072247417178005
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7091496359288613,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.008475672560735729,
|
| 170 |
+
0.07092815843446909,
|
| 171 |
+
0.7014300771835358
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_15": {
|
| 176 |
+
"confidence": 0.9477003216743469,
|
| 177 |
+
"position": [
|
| 178 |
+
0.01239467353298096,
|
| 179 |
+
0.012335168343270198,
|
| 180 |
+
-0.10372291668318212
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.705066449885375,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.15426020687919392,
|
| 186 |
+
-0.04416195344677665,
|
| 187 |
+
-0.6907494565234104
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_16": {
|
| 192 |
+
"confidence": 0.9475342631340027,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.004219568458211143,
|
| 195 |
+
-0.0037411189114209265,
|
| 196 |
+
-0.10744930966757238
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7431659899261516,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.012907010891509552,
|
| 202 |
+
-0.014532772473842881,
|
| 203 |
+
-0.66882472966477
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_17": {
|
| 208 |
+
"confidence": 0.9474838376045227,
|
| 209 |
+
"position": [
|
| 210 |
+
0.000502977280120831,
|
| 211 |
+
-0.0020351014973130077,
|
| 212 |
+
-0.10897856368683279
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.7518153929124467,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.039328135809723705,
|
| 218 |
+
-0.03713577320533812,
|
| 219 |
+
-0.6571513121512255
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_18": {
|
| 224 |
+
"confidence": 0.947303056716919,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.0027695988610503264,
|
| 227 |
+
-0.001625068805878982,
|
| 228 |
+
-0.10797244473360479
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.667304032569465,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.012365333223208302,
|
| 234 |
+
0.017902322400417225,
|
| 235 |
+
-0.7444675503361317
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_19": {
|
| 240 |
+
"confidence": 0.947036862373352,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.01335900242702337,
|
| 243 |
+
-0.0021925359906163067,
|
| 244 |
+
-0.10540122701786458
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.6694997617443267,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.055526073422919715,
|
| 250 |
+
0.0514972400207121,
|
| 251 |
+
0.7389417828657215
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
}
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"quality_check": {
|
| 259 |
+
"success": true,
|
| 260 |
+
"message": "YES"
|
| 261 |
+
}
|
| 262 |
+
}
|
dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3fb5ccaf940a544030a0493b49ccf369e220fa8c1a3dc13cc22b29f704203f41
|
| 3 |
+
size 3827012
|
dataset/bathroom_supplies/personal_care/14bef397e8fa5a09b84feba43c312767/hair_clip_037.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>
|