Add asset bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/affordance/affordance_annot.json +541 -0
- dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/hair_clip_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -5768,4 +5768,4 @@ dataset/bathroom_supplies/personal_care/2f449d16525858a18e8b84e8baaec1be/afforda
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| 5768 |
dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
-
dataset/bathroom_supplies/personal_care/
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| 5768 |
dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
+
dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,541 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clip body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while pressing the bead/pivot area to open the clip",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the tapered front end to guide placement into hair",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide structural support",
|
| 24 |
+
"form the outer shell of the clip",
|
| 25 |
+
"clamp against hair",
|
| 26 |
+
"guide insertion into hair"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long tapered beige plastic body with a smooth slightly glossy hard surface, forming most of the clip and enclosing the internal mechanism along the top and sides.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.88993239402771,
|
| 33 |
+
"position": [
|
| 34 |
+
0.10987544246017933,
|
| 35 |
+
-0.002783134650599095,
|
| 36 |
+
0.010282500938046724
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5128958381767836,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5074517707830315,
|
| 42 |
+
-0.5300698599387077,
|
| 43 |
+
0.4454845711073048
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_22": {
|
| 48 |
+
"confidence": 0.8618242144584656,
|
| 49 |
+
"position": [
|
| 50 |
+
0.10872414149343967,
|
| 51 |
+
-0.0011940267413592665,
|
| 52 |
+
0.006063895591069013
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.482334317442561,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5256700130269778,
|
| 58 |
+
-0.49367861821062853,
|
| 59 |
+
-0.49729876889359004
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_23": {
|
| 64 |
+
"confidence": 0.8552420139312744,
|
| 65 |
+
"position": [
|
| 66 |
+
0.11301653273403645,
|
| 67 |
+
-0.01354071248897526,
|
| 68 |
+
0.016527934290934354
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5359856290157561,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5176545580866783,
|
| 74 |
+
-0.5482158980833404,
|
| 75 |
+
0.37975320020948633
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_24": {
|
| 80 |
+
"confidence": 0.8468901515007019,
|
| 81 |
+
"position": [
|
| 82 |
+
0.10329939611256123,
|
| 83 |
+
-0.0005187683982512681,
|
| 84 |
+
-0.010865268937777728
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.4349635224427889,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5575415783713541,
|
| 90 |
+
-0.39956424314125816,
|
| 91 |
+
0.5833545561099998
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_26": {
|
| 96 |
+
"confidence": 0.8422442674636841,
|
| 97 |
+
"position": [
|
| 98 |
+
0.10517598874866962,
|
| 99 |
+
0.0038482792897411855,
|
| 100 |
+
0.005042109463829547
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.527400572635479,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.5039632675022491,
|
| 106 |
+
-0.5053288644203542,
|
| 107 |
+
-0.4609906721137212
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_27": {
|
| 112 |
+
"confidence": 0.8392375111579895,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.11580058746039867,
|
| 115 |
+
-0.0010496783779672114,
|
| 116 |
+
-0.007163400936406106
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.731258129088139,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.03617950697666173,
|
| 122 |
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"semantic_description": "Narrow beige inner ridged strip with fine teeth along the inside jaw, made of hard plastic and positioned along the clip interior to grip hair securely.",
|
| 533 |
+
"id": 4,
|
| 534 |
+
"grasp_group": {}
|
| 535 |
+
}
|
| 536 |
+
],
|
| 537 |
+
"quality_check": {
|
| 538 |
+
"success": false,
|
| 539 |
+
"message": "One mask color is wrong and a described part is incomplete/misidentified versus visible segmented regions."
|
| 540 |
+
}
|
| 541 |
+
}
|
dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4b70daefbcb6b178820a7ec09753220d03cf90fbe2357b0d73f97afdb830ad1f
|
| 3 |
+
size 3783504
|
dataset/bathroom_supplies/personal_care/3362fa995ad85ae8a996cdeb0d7b51eb/hair_clip_026.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>
|