Add asset bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/affordance_annot.json +342 -0
- dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/hair_clip_034.urdf +4 -3
.gitattributes
CHANGED
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@@ -5864,3 +5864,4 @@ dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/afforda
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| 5864 |
dataset/bathroom_supplies/personal_care/e4d50439c74a561b959ec395037e9277/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5865 |
dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5866 |
dataset/bathroom_supplies/personal_care/e7176834630159a289a0a52dca914021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5864 |
dataset/bathroom_supplies/personal_care/e4d50439c74a561b959ec395037e9277/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5865 |
dataset/bathroom_supplies/personal_care/e6a8cef872e45b00afd7fc987930c83d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5866 |
dataset/bathroom_supplies/personal_care/e7176834630159a289a0a52dca914021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5867 |
+
dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,342 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hair clip body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the clip body while aligning it with hair before opening",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the clip body while another tool or finger presses the top lever",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"clamp hair when closed",
|
| 24 |
+
"house the spring mechanism",
|
| 25 |
+
"provide structural support",
|
| 26 |
+
"protect internal linkage"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Medium-sized curved light gray plastic body with a matte-to-satin smooth hard surface, elongated jaws with comb-like side slots, and small white printed text on the outer side.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9698946475982666,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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],
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| 38 |
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"orientation": {
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| 39 |
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"w": 0.7150108059663407,
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| 40 |
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"xyz": [
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| 41 |
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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": 0.9673521518707275,
|
| 49 |
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"position": [
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| 50 |
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"orientation": {
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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": 0.9646642208099365,
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| 65 |
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"position": [
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"orientation": {
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}
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},
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"grasp_3": {
|
| 80 |
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"confidence": 0.9613261818885803,
|
| 81 |
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"position": [
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"orientation": {
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}
|
| 94 |
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|
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"grasp_4": {
|
| 96 |
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|
| 97 |
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"orientation": {
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"grasp_5": {
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| 112 |
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"confidence": 0.9583220481872559,
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dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:48ef9d75091e876da8ca8d494e208c5b8635cfbdbbe1d088e034d0d5d58f1f16
|
| 3 |
+
size 3805384
|
dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/hair_clip_034.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
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| 57 |
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<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
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<PartSegChecker>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
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<part_count>3</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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 |
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<PartSegChecker>YES</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
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