Add asset bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/affordance_annot.json +323 -0
- dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.urdf +1 -0
.gitattributes
CHANGED
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@@ -5759,4 +5759,5 @@ dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/afforda
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| 5759 |
dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5760 |
dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5761 |
dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5762 |
-
dataset/bathroom_supplies/personal_care/
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| 5759 |
dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5760 |
dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5761 |
dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5762 |
+
dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5763 |
+
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clipper body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the clipper body to pick up and reposition the nail clipper",
|
| 10 |
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"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the clipper body steady while the lever is actuated",
|
| 14 |
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"confidence": 0.9
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the body near the jaws to align the cutting edge with a nail",
|
| 18 |
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"confidence": 0.82
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"support the cutting head",
|
| 23 |
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"main grasp surface",
|
| 24 |
+
"stabilize during clipping",
|
| 25 |
+
"house the jaws and spring action",
|
| 26 |
+
"provide alignment for cutting"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tapered silver metal body with a reflective smooth hard finish, medium-sized and elongated, forming the lower frame and jaws with a small hanging hole at the rear.",
|
| 29 |
+
"id": 4,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_21": {
|
| 32 |
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"confidence": 0.8361451625823975,
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| 33 |
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"position": [
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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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| 40 |
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| 46 |
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},
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"grasp_22": {
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| 48 |
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| 49 |
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| 94 |
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| 96 |
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| 217 |
+
0.6301991995476152,
|
| 218 |
+
0.4889732692833476,
|
| 219 |
+
0.47838164094012964
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"part_name": "lever",
|
| 227 |
+
"mask_color": "Red",
|
| 228 |
+
"graspable": true,
|
| 229 |
+
"grasp_scenarios": [
|
| 230 |
+
{
|
| 231 |
+
"scenario": "grasp the lever to rotate and open or close the nail clipper",
|
| 232 |
+
"confidence": 0.86
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"scenario": "hold the raised lever to actuate a clipping press",
|
| 236 |
+
"confidence": 0.78
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"scenario": "pinch the lever tip to fold it back into the stored position",
|
| 240 |
+
"confidence": 0.72
|
| 241 |
+
}
|
| 242 |
+
],
|
| 243 |
+
"functional_labels": [
|
| 244 |
+
"provide actuation handle",
|
| 245 |
+
"press to drive cutting",
|
| 246 |
+
"fold for storage",
|
| 247 |
+
"increase mechanical leverage",
|
| 248 |
+
"include a textured nail filing surface near the tip"
|
| 249 |
+
],
|
| 250 |
+
"semantic_description": "Long narrow silver metal lever with a reflective smooth hard surface, mounted on top of the clipper and marked with small dark printed characters and a textured filing area near the tip.",
|
| 251 |
+
"id": 0,
|
| 252 |
+
"grasp_group": {
|
| 253 |
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"grasp_7": {
|
| 254 |
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"confidence": 0.3462930917739868,
|
| 255 |
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"position": [
|
| 256 |
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0.10639968188479543,
|
| 257 |
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0.013269851951918099,
|
| 258 |
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0.021235470776446164
|
| 259 |
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],
|
| 260 |
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"orientation": {
|
| 261 |
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"w": 0.6436050596580389,
|
| 262 |
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"xyz": [
|
| 263 |
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0.08740280550573316,
|
| 264 |
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-0.760212697388565,
|
| 265 |
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-0.01448901313071435
|
| 266 |
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]
|
| 267 |
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}
|
| 268 |
+
},
|
| 269 |
+
"grasp_17": {
|
| 270 |
+
"confidence": 0.40142062306404114,
|
| 271 |
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"position": [
|
| 272 |
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0.07763035269454122,
|
| 273 |
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-0.0010637723244144581,
|
| 274 |
+
0.053443140466697514
|
| 275 |
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],
|
| 276 |
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"orientation": {
|
| 277 |
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"w": 0.3209629447990995,
|
| 278 |
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"xyz": [
|
| 279 |
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0.6635346277112179,
|
| 280 |
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-0.5582493705486652,
|
| 281 |
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-0.3808703535010893
|
| 282 |
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]
|
| 283 |
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}
|
| 284 |
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},
|
| 285 |
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"grasp_18": {
|
| 286 |
+
"confidence": 0.3875610828399658,
|
| 287 |
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"position": [
|
| 288 |
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0.09322713734582067,
|
| 289 |
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-0.04414812937466195,
|
| 290 |
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0.006848263670690358
|
| 291 |
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],
|
| 292 |
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"orientation": {
|
| 293 |
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"w": 0.3744371737337205,
|
| 294 |
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"xyz": [
|
| 295 |
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-0.7229631540299472,
|
| 296 |
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-0.03614248843838441,
|
| 297 |
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0.5794952988341285
|
| 298 |
+
]
|
| 299 |
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}
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
{
|
| 304 |
+
"part_name": "pivot pin",
|
| 305 |
+
"mask_color": "Purple",
|
| 306 |
+
"graspable": false,
|
| 307 |
+
"grasp_scenarios": [],
|
| 308 |
+
"functional_labels": [
|
| 309 |
+
"connect lever to body",
|
| 310 |
+
"provide rotation axis",
|
| 311 |
+
"retain assembled parts",
|
| 312 |
+
"transmit actuation force"
|
| 313 |
+
],
|
| 314 |
+
"semantic_description": "Small rounded silver metal pin at the head of the clipper with a hard smooth reflective finish, positioned centrally as the compact hinge and locking element.",
|
| 315 |
+
"id": 5,
|
| 316 |
+
"grasp_group": {}
|
| 317 |
+
}
|
| 318 |
+
],
|
| 319 |
+
"quality_check": {
|
| 320 |
+
"success": true,
|
| 321 |
+
"message": "YES"
|
| 322 |
+
}
|
| 323 |
+
}
|
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aad99b28058c73de5c50b1836a12c7a23839af961ac5b87e62505f19d5fbab36
|
| 3 |
+
size 3780532
|
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/nail_clipper_034.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>
|