Add asset bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/affordance_annot.json +587 -0
- dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -5802,3 +5802,4 @@ dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/afforda
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| 5802 |
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5804 |
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5802 |
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5804 |
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5805 |
+
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,587 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clipper body cover",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pink body cover to pick up and reposition the nail clipper",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body cover to stabilize the clipper while operating the lever",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the looped end to orient or hang/store the clipper",
|
| 18 |
+
"confidence": 0.81
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main holding surface",
|
| 23 |
+
"cover the clipper body",
|
| 24 |
+
"stabilize during cutting",
|
| 25 |
+
"provide hanging hole"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Main pink outer body cover with a smooth mostly matte finish, elongated tapered shape, and a rounded loop opening at the rear. Small cartoon graphics are visible on the side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.8221675753593445,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10049791948404163,
|
| 34 |
+
0.005144881957676262,
|
| 35 |
+
-0.010187310574110597
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5147120253134253,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5142603618332364,
|
| 41 |
+
0.4369765263483364,
|
| 42 |
+
0.528828258194891
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.8083796501159668,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.09760745184030384,
|
| 50 |
+
-0.006938756967429072,
|
| 51 |
+
-0.013073110429104418
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5524037914244663,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.41820871162597634,
|
| 57 |
+
0.5143450056976645,
|
| 58 |
+
0.5053718827298225
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.7531896829605103,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09642827941570431,
|
| 66 |
+
0.001844696409534663,
|
| 67 |
+
-0.03145806438988075
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6748180307668231,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.33490935441716463,
|
| 73 |
+
-0.4888540427027296,
|
| 74 |
+
-0.43986142659826744
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.7489693760871887,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09504983259830624,
|
| 82 |
+
-0.006419714132789522,
|
| 83 |
+
-0.039994995517190546
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5245414160705751,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.47806350026083994,
|
| 89 |
+
-0.3037113628078928,
|
| 90 |
+
0.6356657932014294
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.7467039823532104,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09360028489027172,
|
| 98 |
+
0.005608645209576935,
|
| 99 |
+
-0.042855973762925714
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
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| 537 |
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| 538 |
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"orientation": {
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| 540 |
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| 545 |
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| 547 |
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| 549 |
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},
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"orientation": {
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"w": 0.6927234153484789,
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| 580 |
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| 581 |
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}
|
| 582 |
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],
|
| 583 |
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"quality_check": {
|
| 584 |
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"success": false,
|
| 585 |
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"message": "Red part identity is wrong; mask marks lower metal clipper body, not only cutting head."
|
| 586 |
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}
|
| 587 |
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}
|
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72b50518b3d5f72fc35a7157e20b9c93c1f9320df51d36027645bf1b73dbacf5
|
| 3 |
+
size 3785056
|
dataset/bathroom_supplies/personal_care/a308dd3353da599cb0087867c5a5ae0c/nail_clipper_012.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Main lever, body, and cutting head are mislabeled and split inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Main lever, body, and cutting head are mislabeled and split inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
|