xinjjj commited on
Commit
74a6d2d
·
verified ·
1 Parent(s): 300e31a

Add asset bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e

Browse files
.gitattributes CHANGED
@@ -5818,3 +5818,4 @@ dataset/bathroom_supplies/personal_care/ae6cbcb876875a6c98858b444c4ba8bd/afforda
5818
  dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5819
  dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5820
  dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5818
  dataset/bathroom_supplies/personal_care/af2edb7a9aae5419af21257e177a58aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5819
  dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5820
  dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5821
+ dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.5057864035955971,
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
+ -0.49420436960837927,
69
+ 0.4688267333268987,
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
+ -0.5303191268051054,
118
+ -0.4800170665913415
119
+ ]
120
+ }
121
+ },
122
+ "grasp_9": {
123
+ "confidence": 0.4598085880279541,
124
+ "position": [
125
+ 0.10757583938539028,
126
+ -0.008350253206572233,
127
+ 0.00687441740592476
128
+ ],
129
+ "orientation": {
130
+ "w": 0.24503685908682307,
131
+ "xyz": [
132
+ -0.6977115627261068,
133
+ -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
+ ],
145
+ "orientation": {
146
+ "w": 0.4842079294742233,
147
+ "xyz": [
148
+ 0.4984721387335491,
149
+ -0.5134775925760602,
150
+ -0.5033974273503784
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.43793919682502747,
156
+ "position": [
157
+ 0.10639282129704952,
158
+ 0.009770900840976537,
159
+ 0.0069795185554539785
160
+ ],
161
+ "orientation": {
162
+ "w": 0.46014553593100144,
163
+ "xyz": [
164
+ -0.5212118982466863,
165
+ -0.495582342979182,
166
+ 0.520578893364033
167
+ ]
168
+ }
169
+ },
170
+ "grasp_15": {
171
+ "confidence": 0.8000651001930237,
172
+ "position": [
173
+ -0.11473117955029011,
174
+ -0.0045917626553091395,
175
+ -0.0028262834675842896
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7178508728025211,
179
+ "xyz": [
180
+ 0.015462871656565352,
181
+ 0.6959126530538418,
182
+ 0.012514125472997953
183
+ ]
184
+ }
185
+ },
186
+ "grasp_16": {
187
+ "confidence": 0.6728568077087402,
188
+ "position": [
189
+ -0.11650909669697285,
190
+ -0.003375136162048875,
191
+ -0.002252127291285433
192
+ ],
193
+ "orientation": {
194
+ "w": 0.48324831010701236,
195
+ "xyz": [
196
+ 0.5106909348857981,
197
+ 0.47464034986352577,
198
+ 0.529511452270502
199
+ ]
200
+ }
201
+ },
202
+ "grasp_18": {
203
+ "confidence": 0.6749539375305176,
204
+ "position": [
205
+ -0.11855754442512989,
206
+ 0.001415084247582854,
207
+ -0.0032246713672066107
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5213119227795099,
211
+ "xyz": [
212
+ 0.4902464189864332,
213
+ 0.4864474179237497,
214
+ 0.5012596507143033
215
+ ]
216
+ }
217
+ }
218
+ }
219
+ },
220
+ {
221
+ "part_name": "lower metal clip body",
222
+ "mask_color": "Blue",
223
+ "graspable": true,
224
+ "grasp_scenarios": [
225
+ {
226
+ "scenario": "grasp the lower metal clip body to pick up the hair clip from a surface",
227
+ "confidence": 0.72
228
+ },
229
+ {
230
+ "scenario": "hold the lower metal clip body while pressing the opposite shell to open or orient the clip",
231
+ "confidence": 0.66
232
+ }
233
+ ],
234
+ "functional_labels": [
235
+ "form the lower jaw of the snap clip",
236
+ "support the springing snap action",
237
+ "retain hair against the top shell",
238
+ "provide the inner contact surface"
239
+ ],
240
+ "semantic_description": "Slim light beige to gold-toned metal lower clip body and end tab, with a smooth slightly glossy finish, hard texture, and elongated curved form running beneath the brown top shell with a broader rounded pressing end.",
241
+ "id": 2,
242
+ "grasp_group": {
243
+ "grasp_20": {
244
+ "confidence": 0.8391309976577759,
245
+ "position": [
246
+ -0.11995861120522022,
247
+ -0.0013776476112070668,
248
+ -0.009209062918671407
249
+ ],
250
+ "orientation": {
251
+ "w": 0.7356929293117315,
252
+ "xyz": [
253
+ -0.002060191413900311,
254
+ 0.6772316168598651,
255
+ -0.01044061767495852
256
+ ]
257
+ }
258
+ },
259
+ "grasp_21": {
260
+ "confidence": 0.8368819952011108,
261
+ "position": [
262
+ -0.1174053642898798,
263
+ -0.002515839747047721,
264
+ -0.008528812802978791
265
+ ],
266
+ "orientation": {
267
+ "w": 0.7351678432474813,
268
+ "xyz": [
269
+ 0.0412678512918575,
270
+ 0.6747170112654953,
271
+ 0.05081497233648377
272
+ ]
273
+ }
274
+ },
275
+ "grasp_23": {
276
+ "confidence": 0.823404848575592,
277
+ "position": [
278
+ -0.11544119752943516,
279
+ -0.0019563081291380513,
280
+ -0.00551374584028963
281
+ ],
282
+ "orientation": {
283
+ "w": 0.7239775470059571,
284
+ "xyz": [
285
+ 0.003473644042103881,
286
+ 0.6897978116621325,
287
+ -0.004839860993747862
288
+ ]
289
+ }
290
+ },
291
+ "grasp_24": {
292
+ "confidence": 0.8177959322929382,
293
+ "position": [
294
+ -0.11633487232029438,
295
+ 0.0002787828711916518,
296
+ -0.005695901360013522
297
+ ],
298
+ "orientation": {
299
+ "w": 0.7316732020886825,
300
+ "xyz": [
301
+ 0.03744594098415097,
302
+ 0.6804832780352393,
303
+ 0.013951170686400215
304
+ ]
305
+ }
306
+ },
307
+ "grasp_25": {
308
+ "confidence": 0.8086526393890381,
309
+ "position": [
310
+ -0.11398729123175144,
311
+ -0.003751019350147544,
312
+ -0.005436567604192533
313
+ ],
314
+ "orientation": {
315
+ "w": 0.721872059945629,
316
+ "xyz": [
317
+ -0.014340585931134762,
318
+ 0.6918601802142452,
319
+ -0.00495658137413604
320
+ ]
321
+ }
322
+ },
323
+ "grasp_31": {
324
+ "confidence": 0.5874590873718262,
325
+ "position": [
326
+ 0.11379182152450085,
327
+ -0.0068462017075034964,
328
+ 0.004728359621367417
329
+ ],
330
+ "orientation": {
331
+ "w": 0.531408665012937,
332
+ "xyz": [
333
+ -0.4980780162345642,
334
+ -0.5363747979794276,
335
+ 0.42640965817572396
336
+ ]
337
+ }
338
+ },
339
+ "grasp_32": {
340
+ "confidence": 0.5677134394645691,
341
+ "position": [
342
+ 0.11054309271275997,
343
+ -0.0010737338884609926,
344
+ 0.009709289282909594
345
+ ],
346
+ "orientation": {
347
+ "w": 0.5315674677026384,
348
+ "xyz": [
349
+ -0.48251961449663,
350
+ -0.5579238471423336,
351
+ 0.4163313940794354
352
+ ]
353
+ }
354
+ },
355
+ "grasp_33": {
356
+ "confidence": 0.5658344030380249,
357
+ "position": [
358
+ 0.11354184709489346,
359
+ -0.00027195665416002157,
360
+ 0.0055609536211704835
361
+ ],
362
+ "orientation": {
363
+ "w": 0.4830675926750427,
364
+ "xyz": [
365
+ -0.5146552999391854,
366
+ -0.5146463993812957,
367
+ 0.48673884861958033
368
+ ]
369
+ }
370
+ },
371
+ "grasp_34": {
372
+ "confidence": 0.5427935123443604,
373
+ "position": [
374
+ 0.1128330584615469,
375
+ 0.002974074465328158,
376
+ 0.0014154439413687214
377
+ ],
378
+ "orientation": {
379
+ "w": 0.4926971174491785,
380
+ "xyz": [
381
+ -0.5042718973663026,
382
+ -0.5206082982438409,
383
+ 0.4815873791779757
384
+ ]
385
+ }
386
+ },
387
+ "grasp_35": {
388
+ "confidence": 0.5158334970474243,
389
+ "position": [
390
+ 0.11143848113715649,
391
+ -0.006133994654646813,
392
+ 0.001701660206890665
393
+ ],
394
+ "orientation": {
395
+ "w": 0.4879729467275814,
396
+ "xyz": [
397
+ 0.4887703409040819,
398
+ -0.5206316697491256,
399
+ -0.5019249162661141
400
+ ]
401
+ }
402
+ },
403
+ "grasp_36": {
404
+ "confidence": 0.49312692880630493,
405
+ "position": [
406
+ 0.11472717486321926,
407
+ -0.0042239265599164355,
408
+ 0.00617419088666793
409
+ ],
410
+ "orientation": {
411
+ "w": 0.4855360641248164,
412
+ "xyz": [
413
+ -0.5224681373068173,
414
+ -0.5116334740209975,
415
+ 0.47907511331161007
416
+ ]
417
+ }
418
+ },
419
+ "grasp_37": {
420
+ "confidence": 0.46791213750839233,
421
+ "position": [
422
+ 0.1149273719638586,
423
+ -0.0015767534346196044,
424
+ 2.790274447761476e-05
425
+ ],
426
+ "orientation": {
427
+ "w": 0.5243324434946683,
428
+ "xyz": [
429
+ 0.47069432667031,
430
+ -0.5367472579472795,
431
+ -0.4641386868441062
432
+ ]
433
+ }
434
+ },
435
+ "grasp_38": {
436
+ "confidence": 0.4471977949142456,
437
+ "position": [
438
+ 0.11422201804816723,
439
+ -0.0014262408799368131,
440
+ 0.0022355674154823646
441
+ ],
442
+ "orientation": {
443
+ "w": 0.489761914371172,
444
+ "xyz": [
445
+ 0.49764047970100805,
446
+ -0.5182495022240816,
447
+ -0.4938670606944013
448
+ ]
449
+ }
450
+ },
451
+ "grasp_39": {
452
+ "confidence": 0.44051218032836914,
453
+ "position": [
454
+ 0.11567516438663006,
455
+ -0.00018773607689581695,
456
+ 0.0002350465947529301
457
+ ],
458
+ "orientation": {
459
+ "w": 0.5151217858413953,
460
+ "xyz": [
461
+ 0.4808062646087123,
462
+ -0.5323932416849205,
463
+ -0.4690760256853998
464
+ ]
465
+ }
466
+ }
467
+ }
468
+ }
469
+ ],
470
+ "quality_check": {
471
+ "success": true,
472
+ "message": "YES"
473
+ }
474
+ }
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a75b607ef866e369498b84ae135f3ca00e7070d9fddc85ee6b1cd82bb45f5397
3
+ 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
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>