Add asset bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/affordance_annot.json +474 -0
- dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.urdf +1 -0
.gitattributes
CHANGED
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@@ -5818,3 +5818,4 @@ dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/afforda
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| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5818 |
dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5819 |
dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
+
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,474 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top shell",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top shell to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top shell to stabilize the clip while opening or aligning it",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the metal clip body",
|
| 19 |
+
"provide the main exterior grip surface",
|
| 20 |
+
"press against the lower clip body to secure hair",
|
| 21 |
+
"define the clip shape"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Elongated dark brown top shell with a likely leather or faux-leather outer wrap, matte smooth finish, rounded tapered shape, visible stitched edge detail, and small gold decorative emblems near the ends.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.5358490347862244,
|
| 28 |
+
"position": [
|
| 29 |
+
0.10272953473031521,
|
| 30 |
+
-0.0025935318403753627,
|
| 31 |
+
0.006986509994021617
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5109495197518787,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.480215371972491,
|
| 37 |
+
-0.5341124958398877,
|
| 38 |
+
-0.4722791828720936
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.5316566824913025,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10202339105308056,
|
| 46 |
+
-0.004706526742211281,
|
| 47 |
+
0.007679074988118373
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.48000826605436514,
|
| 51 |
+
"xyz": [
|
| 52 |
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|
| 53 |
+
-0.5133630927573986,
|
| 54 |
+
-0.5002304603399031
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.5066092610359192,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.11125424690544605,
|
| 62 |
+
-0.006507764671823679,
|
| 63 |
+
-0.004261823385604657
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5147365770311739,
|
| 67 |
+
"xyz": [
|
| 68 |
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-0.49420436960837927,
|
| 69 |
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|
| 70 |
+
-0.5205860077299846
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.5011746883392334,
|
| 76 |
+
"position": [
|
| 77 |
+
0.10428870283067226,
|
| 78 |
+
-0.0021927660413894046,
|
| 79 |
+
0.0071356063563143834
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5093786254395264,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.4794925362393836,
|
| 85 |
+
-0.5326257253638808,
|
| 86 |
+
-0.47637187187811825
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_7": {
|
| 91 |
+
"confidence": 0.5010333061218262,
|
| 92 |
+
"position": [
|
| 93 |
+
0.1058636736124754,
|
| 94 |
+
7.616199627591413e-05,
|
| 95 |
+
0.008031645775190555
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5202618484958216,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.47356175722285565,
|
| 101 |
+
-0.5426488463148014,
|
| 102 |
+
-0.45891077639223843
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_8": {
|
| 107 |
+
"confidence": 0.4721725583076477,
|
| 108 |
+
"position": [
|
| 109 |
+
0.10743780247867107,
|
| 110 |
+
-0.0046109283425721515,
|
| 111 |
+
0.007647856124094687
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5011624597898843,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.4870127600207894,
|
| 117 |
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-0.5303191268051054,
|
| 118 |
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-0.4800170665913415
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_9": {
|
| 123 |
+
"confidence": 0.4598085880279541,
|
| 124 |
+
"position": [
|
| 125 |
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0.10757583938539028,
|
| 126 |
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-0.008350253206572233,
|
| 127 |
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0.00687441740592476
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.24503685908682307,
|
| 131 |
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"xyz": [
|
| 132 |
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-0.6977115627261068,
|
| 133 |
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-0.15645001461127916,
|
| 134 |
+
0.6547357526936262
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_10": {
|
| 139 |
+
"confidence": 0.4551641643047333,
|
| 140 |
+
"position": [
|
| 141 |
+
0.10929067246615887,
|
| 142 |
+
-0.0034848727368625987,
|
| 143 |
+
0.0056120972003554925
|
| 144 |
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],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.4842079294742233,
|
| 147 |
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"xyz": [
|
| 148 |
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0.4984721387335491,
|
| 149 |
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|
| 150 |
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-0.5033974273503784
|
| 151 |
+
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dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:a75b607ef866e369498b84ae135f3ca00e7070d9fddc85ee6b1cd82bb45f5397
|
| 3 |
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size 3782268
|
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/hair_clip_030.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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