Add asset bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/affordance_annot.json +358 -0
- dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.urdf +4 -3
.gitattributes
CHANGED
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@@ -5743,3 +5743,4 @@ dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/afforda
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| 5743 |
dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5743 |
dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
dataset/bathroom_supplies/personal_care/1645f88b9bdd5a83a840a13a063b005e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5746 |
+
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,358 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hair clip",
|
| 5 |
+
"mask_color": "Gold",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the clip body from the sides to pick up and place it",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the clip body to open or position it near hair",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the curved body to stabilize the accessory during inspection or sorting",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"clamp hair in place",
|
| 23 |
+
"provide the main gripping structure",
|
| 24 |
+
"support opening and closing motion",
|
| 25 |
+
"decorate hair",
|
| 26 |
+
"stabilize attached hair strands"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small curved barrette-style clip with a pale cream or off-white plastic body, glossy smooth hard surfaces, rounded bead-like trim along the edges, and a compact elongated shape sized to sit on top of the head.",
|
| 29 |
+
"id": 21,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.98099285364151,
|
| 33 |
+
"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.5230302666955112,
|
| 40 |
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"xyz": [
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| 42 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9807852506637573,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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"w": 0.47536937299045046,
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9799306392669678,
|
| 65 |
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"position": [
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| 66 |
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|
| 69 |
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],
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"orientation": {
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"w": 0.5121848945178871,
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"xyz": [
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| 76 |
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|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9790002703666687,
|
| 81 |
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"position": [
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| 85 |
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| 86 |
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"orientation": {
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"w": 0.43365723486117114,
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"xyz": [
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| 91 |
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| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9781437516212463,
|
| 97 |
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"position": [
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
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"orientation": {
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"xyz": [
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]
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}
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| 110 |
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},
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"grasp_5": {
|
| 112 |
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"confidence": 0.9779455661773682,
|
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"position": [
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dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:0987b36122bcf2d649b71ebe106aaa5864d8b7c92124c9593569daaacd787986
|
| 3 |
+
size 3825352
|
dataset/bathroom_supplies/personal_care/16fd04e5e9fe5d96a93a4fa67596f2fe/hair_clip_017.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
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| 58 |
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<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
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<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
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<part_count>1</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
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<PartSegChecker>YES</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
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