xinjjj commited on
Commit
dbdaf31
·
verified ·
1 Parent(s): c45db35

Add asset bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433

Browse files
.gitattributes CHANGED
@@ -5759,4 +5759,5 @@ dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/afforda
5759
  dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5760
  dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5761
  dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5762
- dataset/bathroom_supplies/personal_care/2b4d729feb3d5270ba71eb046a27772a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5759
  dataset/bathroom_supplies/personal_care/247d41c27ac15c42a4b0e3e16d242fc7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5760
  dataset/bathroom_supplies/personal_care/27d48156b5d55ae59c9a4818bda6cdfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5761
  dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5762
+ dataset/bathroom_supplies/personal_care/2bb5d1d111d45bf6a831502feebba7ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5763
+ dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/2be2f3404516586b93a47b619cfe3433/affordance/affordance_annot.json ADDED
@@ -0,0 +1,323 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "clipper body",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the clipper body to pick up and reposition the nail clipper",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the clipper body steady while the lever is actuated",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the body near the jaws to align the cutting edge with a nail",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "support the cutting head",
23
+ "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
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.8361451625823975,
33
+ "position": [
34
+ -0.10521230427548289,
35
+ -0.011289627254882362,
36
+ 0.006199200754053891
37
+ ],
38
+ "orientation": {
39
+ "w": 0.35568649010854436,
40
+ "xyz": [
41
+ 0.576924195523336,
42
+ 0.45487738975563685,
43
+ 0.5776955544775423
44
+ ]
45
+ }
46
+ },
47
+ "grasp_22": {
48
+ "confidence": 0.8348268270492554,
49
+ "position": [
50
+ -0.1037583383731544,
51
+ -0.005876899660506751,
52
+ -0.005263036000542343
53
+ ],
54
+ "orientation": {
55
+ "w": 0.4473833260824304,
56
+ "xyz": [
57
+ 0.5163810944867413,
58
+ 0.4673187860615894,
59
+ 0.5610809896922356
60
+ ]
61
+ }
62
+ },
63
+ "grasp_23": {
64
+ "confidence": 0.8234807252883911,
65
+ "position": [
66
+ -0.10196635453030467,
67
+ 0.000377779571863357,
68
+ 0.024643580545671284
69
+ ],
70
+ "orientation": {
71
+ "w": 0.3819144617733657,
72
+ "xyz": [
73
+ 0.6246901342127278,
74
+ 0.4959994459282818,
75
+ 0.46678488594263834
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.8159758448600769,
81
+ "position": [
82
+ -0.09907856164500117,
83
+ 0.009438573419174645,
84
+ 0.023299767752178013
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4113022677405784,
88
+ "xyz": [
89
+ -0.5407954058945308,
90
+ 0.5779754788647464,
91
+ -0.4520122999940318
92
+ ]
93
+ }
94
+ },
95
+ "grasp_27": {
96
+ "confidence": 0.793763279914856,
97
+ "position": [
98
+ -0.1025129440240562,
99
+ 0.011469730212411378,
100
+ -0.020602249423973262
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4742237791985315,
104
+ "xyz": [
105
+ 0.5544655941400113,
106
+ 0.31837821317109305,
107
+ 0.6052396430634804
108
+ ]
109
+ }
110
+ },
111
+ "grasp_29": {
112
+ "confidence": 0.7931108474731445,
113
+ "position": [
114
+ -0.10089492378756404,
115
+ -0.0005521331549971364,
116
+ -0.027629828895442188
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4772138920625523,
120
+ "xyz": [
121
+ 0.48900498550268157,
122
+ 0.3725949586410904,
123
+ 0.6279442826965437
124
+ ]
125
+ }
126
+ },
127
+ "grasp_31": {
128
+ "confidence": 0.7850826978683472,
129
+ "position": [
130
+ -0.10139707801863551,
131
+ -0.026566226930299308,
132
+ -0.005314594483934343
133
+ ],
134
+ "orientation": {
135
+ "w": 0.48476722246192694,
136
+ "xyz": [
137
+ 0.3778417157427662,
138
+ 0.5810459832524614,
139
+ 0.533499712480983
140
+ ]
141
+ }
142
+ },
143
+ "grasp_32": {
144
+ "confidence": 0.7786419987678528,
145
+ "position": [
146
+ -0.10549173830077052,
147
+ -0.0034785838433890603,
148
+ -0.019145482103340328
149
+ ],
150
+ "orientation": {
151
+ "w": 0.40758345800286067,
152
+ "xyz": [
153
+ 0.541022747252585,
154
+ 0.3590954660371002,
155
+ 0.642044046767271
156
+ ]
157
+ }
158
+ },
159
+ "grasp_35": {
160
+ "confidence": 0.767416775226593,
161
+ "position": [
162
+ -0.10221541253849864,
163
+ -0.020928419158735778,
164
+ -0.02028247236739844
165
+ ],
166
+ "orientation": {
167
+ "w": 0.507593331724815,
168
+ "xyz": [
169
+ 0.3804457390852276,
170
+ 0.5136533707475355,
171
+ 0.5777285382600483
172
+ ]
173
+ }
174
+ },
175
+ "grasp_37": {
176
+ "confidence": 0.7438468337059021,
177
+ "position": [
178
+ -0.10592021374031901,
179
+ -0.02097179271368077,
180
+ 0.006213457905687392
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4153580477901792,
184
+ "xyz": [
185
+ 0.47269710540302,
186
+ 0.5619429570995557,
187
+ 0.5368940786093143
188
+ ]
189
+ }
190
+ },
191
+ "grasp_38": {
192
+ "confidence": 0.7354466915130615,
193
+ "position": [
194
+ -0.10687441704794765,
195
+ 0.0069983178182155825,
196
+ -0.024977107415907085
197
+ ],
198
+ "orientation": {
199
+ "w": 0.43678438527507135,
200
+ "xyz": [
201
+ 0.5445270868569503,
202
+ 0.30114887168308013,
203
+ 0.6496299019772482
204
+ ]
205
+ }
206
+ },
207
+ "grasp_39": {
208
+ "confidence": 0.7343001961708069,
209
+ "position": [
210
+ -0.09515530942007899,
211
+ -0.001740646745020058,
212
+ 0.022525663604028523
213
+ ],
214
+ "orientation": {
215
+ "w": 0.3672943185339637,
216
+ "xyz": [
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
+ "grasp_7": {
254
+ "confidence": 0.3462930917739868,
255
+ "position": [
256
+ 0.10639968188479543,
257
+ 0.013269851951918099,
258
+ 0.021235470776446164
259
+ ],
260
+ "orientation": {
261
+ "w": 0.6436050596580389,
262
+ "xyz": [
263
+ 0.08740280550573316,
264
+ -0.760212697388565,
265
+ -0.01448901313071435
266
+ ]
267
+ }
268
+ },
269
+ "grasp_17": {
270
+ "confidence": 0.40142062306404114,
271
+ "position": [
272
+ 0.07763035269454122,
273
+ -0.0010637723244144581,
274
+ 0.053443140466697514
275
+ ],
276
+ "orientation": {
277
+ "w": 0.3209629447990995,
278
+ "xyz": [
279
+ 0.6635346277112179,
280
+ -0.5582493705486652,
281
+ -0.3808703535010893
282
+ ]
283
+ }
284
+ },
285
+ "grasp_18": {
286
+ "confidence": 0.3875610828399658,
287
+ "position": [
288
+ 0.09322713734582067,
289
+ -0.04414812937466195,
290
+ 0.006848263670690358
291
+ ],
292
+ "orientation": {
293
+ "w": 0.3744371737337205,
294
+ "xyz": [
295
+ -0.7229631540299472,
296
+ -0.03614248843838441,
297
+ 0.5794952988341285
298
+ ]
299
+ }
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>