Add asset bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/affordance_annot.json +463 -0
- dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -5775,3 +5775,4 @@ dataset/bathroom_supplies/personal_care/38fabd9c66c656678b2b21c1c776b50f/afforda
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5777 |
dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5775 |
dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5777 |
dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5778 |
+
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,463 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lever handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the folding lever to rotate it and actuate the clipper",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lever to pick up and reposition the nail clipper",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the lever to stabilize the clipper during use",
|
| 18 |
+
"confidence": 0.7
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide pressing leverage",
|
| 23 |
+
"actuate the cutting jaws",
|
| 24 |
+
"fold over the body",
|
| 25 |
+
"serve as a top grip surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long silver metal lever with a smooth reflective finish and textured engraved pad near the free end, slightly curved and mounted on top of the clipper as the main movable handle.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.6693925857543945,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0971414465457201,
|
| 34 |
+
-0.0007766806459130748,
|
| 35 |
+
0.014276170171797276
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.12502147454674628,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7458838059096634,
|
| 41 |
+
-0.10318291882223174,
|
| 42 |
+
0.6460497382146344
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.6646485924720764,
|
| 48 |
+
"position": [
|
| 49 |
+
0.0988208968192339,
|
| 50 |
+
0.0037866553236654,
|
| 51 |
+
0.022801043465733528
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3522041622351541,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6441536516931557,
|
| 57 |
+
-0.4149064115361605,
|
| 58 |
+
0.537467181119733
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_9": {
|
| 63 |
+
"confidence": 0.4983688294887543,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09366685338318348,
|
| 66 |
+
0.027126954816367288,
|
| 67 |
+
0.024886054918169975
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4688312030761726,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6572188623581852,
|
| 73 |
+
-0.3919606549791491,
|
| 74 |
+
-0.44116608542710806
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_15": {
|
| 79 |
+
"confidence": 0.401033878326416,
|
| 80 |
+
"position": [
|
| 81 |
+
0.1028322596102953,
|
| 82 |
+
-0.00547096976629291,
|
| 83 |
+
0.02929883636534214
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6011963566380525,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.11489487885390225,
|
| 89 |
+
-0.7794626295398132,
|
| 90 |
+
-0.13341707810156397
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "upper clipper arm",
|
| 98 |
+
"mask_color": "Orange",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "grasp the upper body arm to pick up the tool",
|
| 103 |
+
"confidence": 0.82
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "hold the upper arm to stabilize the clipper while the lever is manipulated",
|
| 107 |
+
"confidence": 0.79
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"functional_labels": [
|
| 111 |
+
"support one cutting jaw",
|
| 112 |
+
"form the main body",
|
| 113 |
+
"align with the lower arm",
|
| 114 |
+
"provide structural stiffness"
|
| 115 |
+
],
|
| 116 |
+
"semantic_description": "Silver metal body arm with a smooth slightly reflective finish, elongated tapered shape, visible beneath the lever and extending toward the tail end with a hole.",
|
| 117 |
+
"id": 4,
|
| 118 |
+
"grasp_group": {
|
| 119 |
+
"grasp_40": {
|
| 120 |
+
"confidence": 0.6690125465393066,
|
| 121 |
+
"position": [
|
| 122 |
+
0.0946610365062952,
|
| 123 |
+
0.03322266409554686,
|
| 124 |
+
-0.012447171844542027
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.5360081661442712,
|
| 128 |
+
"xyz": [
|
| 129 |
+
-0.3106898603626516,
|
| 130 |
+
-0.5874888525876357,
|
| 131 |
+
0.5205995626004256
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_42": {
|
| 136 |
+
"confidence": 0.590203046798706,
|
| 137 |
+
"position": [
|
| 138 |
+
0.08886130340397358,
|
| 139 |
+
0.036233652331020494,
|
| 140 |
+
-0.03095017746090889
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.4472663288394557,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.3654861621808704,
|
| 146 |
+
-0.47824947121187367,
|
| 147 |
+
0.6615513129201224
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_44": {
|
| 152 |
+
"confidence": 0.558294415473938,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.10486431233584881,
|
| 155 |
+
-0.03175088023385797,
|
| 156 |
+
0.017091773450374603
|
| 157 |
+
],
|
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},
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"connect the lever to the body",
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"provide rotation axis",
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],
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"semantic_description": "Small round silver metal pin at the head of the clipper where the lever pivots, with a smooth reflective finish.",
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},
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{
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"part_name": "nail file/cleaner insert",
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|
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|
| 421 |
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"provide a small grooming surface",
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"clean under nails",
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"serve as an integrated file/cleaner feature"
|
| 425 |
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],
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"semantic_description": "Small narrow metallic insert visible recessed along the side/underside of the clipper body, appearing as a small elongated inlay rather than a large external tab.",
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},
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{
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"part_name": "attachment holes",
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"mask_color": "Purple",
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|
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|
| 435 |
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| 436 |
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"allow hanging",
|
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"attach to a keyring or tether",
|
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"provide lanyard access points"
|
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],
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"semantic_description": "Dark circular holes visible at the tail end of the clipper arms for attachment, appearing as small round openings through the metal.",
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| 441 |
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"id": 5,
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| 442 |
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|
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},
|
| 444 |
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{
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"part_name": "logo/marking area",
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"mask_color": "Blue",
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|
| 449 |
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"functional_labels": [
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"provide branding or visual marking",
|
| 451 |
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"identify the product",
|
| 452 |
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"decorate the body"
|
| 453 |
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],
|
| 454 |
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"semantic_description": "Small dark or bluish marked area/opening visible on the clipper body in some views, distinct from the metal arms and not part of the cutting edges.",
|
| 455 |
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"id": 2,
|
| 456 |
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"grasp_group": {}
|
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}
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],
|
| 459 |
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"quality_check": {
|
| 460 |
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"success": false,
|
| 461 |
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"message": "Blue part misidentified; it is a side hole/opening, not a logo area. Several semantic descriptions also mismatch visible features."
|
| 462 |
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}
|
| 463 |
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}
|
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:72358987ca12a9d221ebd438bf28e0dc33215a5bf4500c0031bb7cbaff89e217
|
| 3 |
+
size 3785944
|
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/nail_clipper_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>
|