Add asset bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/affordance/affordance_annot.json +293 -0
- dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/hair_clip_021.urdf +1 -0
.gitattributes
CHANGED
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@@ -5769,3 +5769,4 @@ dataset/bathroom_supplies/personal_care/30caa16d6dd759ddb11b6c6bd3351caa/afforda
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
dataset/bathroom_supplies/personal_care/326389df5f8c5a2b80f00f0d1039eb40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5769 |
dataset/bathroom_supplies/personal_care/314085f1747858c5a11fdac02b83ad10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5770 |
dataset/bathroom_supplies/personal_care/317b3184b9ff5eec9ed95941ea7de7d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5771 |
dataset/bathroom_supplies/personal_care/326389df5f8c5a2b80f00f0d1039eb40/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5772 |
+
dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "clip body and jaws",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer body or handle frame to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the side of the jaws to stabilize the clip while opening or placing it in hair",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the closed jaws to remove the clip from a surface or container",
|
| 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 |
+
"clamp hair",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support opening and closing",
|
| 25 |
+
"align and hold hair strands",
|
| 26 |
+
"provide interlocking teeth for retention"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Smoky translucent gray plastic clip body with a smooth slightly glossy finish, forming two elongated curved jaws with fine comb-like teeth and an open rectangular handle loop on top; medium-sized, with printed text visible on one side.",
|
| 29 |
+
"id": 3,
|
| 30 |
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"grasp_group": {
|
| 31 |
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| 32 |
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| 46 |
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| 47 |
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| 235 |
+
-0.06220165312161363
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_18": {
|
| 240 |
+
"confidence": 0.8878692388534546,
|
| 241 |
+
"position": [
|
| 242 |
+
0.035008487990126014,
|
| 243 |
+
0.01529384043533355,
|
| 244 |
+
0.09286870807409286
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.08495445289809192,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.647668274904534,
|
| 250 |
+
-0.7347283326408287,
|
| 251 |
+
0.18298312443992854
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_19": {
|
| 256 |
+
"confidence": 0.8864251971244812,
|
| 257 |
+
"position": [
|
| 258 |
+
0.038406735053285956,
|
| 259 |
+
0.02049877040553838,
|
| 260 |
+
0.09332571178674698
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.04547406051832544,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.7430037907775918,
|
| 266 |
+
-0.6245394477502273,
|
| 267 |
+
0.23627940010493
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"part_name": "spring hinge",
|
| 275 |
+
"mask_color": "White",
|
| 276 |
+
"graspable": false,
|
| 277 |
+
"grasp_scenarios": [],
|
| 278 |
+
"functional_labels": [
|
| 279 |
+
"enable opening motion",
|
| 280 |
+
"provide closing force",
|
| 281 |
+
"connect the two jaws",
|
| 282 |
+
"act as pivot mechanism"
|
| 283 |
+
],
|
| 284 |
+
"semantic_description": "Small metal spring hinge at the center of the clip, dark gray to black and slightly reflective, compact and recessed between the upper handle and the two jaws.",
|
| 285 |
+
"id": 17,
|
| 286 |
+
"grasp_group": {}
|
| 287 |
+
}
|
| 288 |
+
],
|
| 289 |
+
"quality_check": {
|
| 290 |
+
"success": true,
|
| 291 |
+
"message": "YES"
|
| 292 |
+
}
|
| 293 |
+
}
|
dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:003afe06c4694fbf5b51a56ccda349821221126081fa4dc0fd3944e5c129df98
|
| 3 |
+
size 3790380
|
dataset/bathroom_supplies/personal_care/36c243a9d04855ce9fc514f167e100c8/hair_clip_021.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>NO: {"summary":"Hinge/spring is separated, but the two clip jaws/handles are merged into one color despite clear opposing parts.","merge_groups":[]}</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>NO: {"summary":"Hinge/spring is separated, but the two clip jaws/handles are merged into one color despite clear opposing parts.","merge_groups":[]}</PartSegChecker>
|