Add asset bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/affordance_annot.json +385 -0
- dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8028,3 +8028,4 @@ dataset/bathroom_supplies/personal_care/9894aa767a1b5a4c93580ca4ea5c8df8/afforda
|
|
| 8028 |
dataset/bathroom_supplies/personal_care/9a2786912813510cbc64b01b9a3d8963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8029 |
dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8030 |
dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8028 |
dataset/bathroom_supplies/personal_care/9a2786912813510cbc64b01b9a3d8963/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8029 |
dataset/bathroom_supplies/personal_care/9aaf4e1f8c6f55b9b66fdec02674e91e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8030 |
dataset/bathroom_supplies/personal_care/9af3eb54bafb58bb83a8238f02556686/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8031 |
+
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,385 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lower handle body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lower handle body to pick up and reposition the nail clipper",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lower handle body to stabilize the clipper while pressing the lever",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the hanging-hole end to place or retrieve the clipper from storage",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support lower jaw structure",
|
| 24 |
+
"stabilize during clipping",
|
| 25 |
+
"provide hanging-hole end for storage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated white-coated metal lower body/handle with a smooth slightly glossy finish, rounded end with a small circular hanging hole, and a broader front section that forms the lower jaw near the cutting end.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.7955427765846252,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09649255406111479,
|
| 34 |
+
-0.020796993021576782,
|
| 35 |
+
0.018561071337899193
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5402376888072009,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5475714983238306,
|
| 41 |
+
0.547240221196466,
|
| 42 |
+
-0.32990428023972734
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.7928480505943298,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10767011623829603,
|
| 50 |
+
0.0003243989467591746,
|
| 51 |
+
0.0035638831031974405
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.44961004172519425,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5495052194140319,
|
| 57 |
+
0.4703047126963592,
|
| 58 |
+
0.5241262266212224
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.7875683903694153,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.1039383364841342,
|
| 66 |
+
0.0023516849887528224,
|
| 67 |
+
-0.0140614494739566
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.61131230363218,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.39557012024231786,
|
| 73 |
+
0.5261625607809508,
|
| 74 |
+
0.4392886374945605
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.7862647771835327,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10002810787409544,
|
| 82 |
+
-0.005942534860878368,
|
| 83 |
+
-0.0064619671611581
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5314813502260787,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.43178216387586754,
|
| 89 |
+
0.535913934877257,
|
| 90 |
+
0.4938501713322705
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.7648795247077942,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10566410701721907,
|
| 98 |
+
0.015921442563922028,
|
| 99 |
+
-0.0016458883474115282
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5257010330153815,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.5565868757707203,
|
| 105 |
+
0.4338025767380975,
|
| 106 |
+
0.47504189080725967
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.7640801668167114,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.10258154105395079,
|
| 114 |
+
0.01048874089428864,
|
| 115 |
+
-0.020434414414921775
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6715638390846728,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.3770655622177854,
|
| 121 |
+
0.5031213266403132,
|
| 122 |
+
0.3920363535476439
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.7520672678947449,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.1026139510795474,
|
| 130 |
+
0.02453589698234282,
|
| 131 |
+
0.01677221301360987
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5183833111405002,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6083655377777516,
|
| 137 |
+
0.46390923153668717,
|
| 138 |
+
0.3820449450921174
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.7477244734764099,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.10882492642849684,
|
| 146 |
+
-0.0035587313777796226,
|
| 147 |
+
-0.0017721796466503292
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.4998040029844072,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.4783851763565031,
|
| 153 |
+
0.5149211975469646,
|
| 154 |
+
0.5061617744949924
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_9": {
|
| 159 |
+
"confidence": 0.7367532253265381,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.10762235056608915,
|
| 162 |
+
-0.006641400252192398,
|
| 163 |
+
-0.010194592556217685
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5821951159689921,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.3813200120636258,
|
| 169 |
+
0.5525690402805161,
|
| 170 |
+
0.4585971555353541
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_10": {
|
| 175 |
+
"confidence": 0.7290511131286621,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.109129692427814,
|
| 178 |
+
0.0030328184639074607,
|
| 179 |
+
-0.007491738913813606
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.558179673197806,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.4530170595062904,
|
| 185 |
+
0.5127405535776836,
|
| 186 |
+
0.4693699190850589
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_11": {
|
| 191 |
+
"confidence": 0.7285919189453125,
|
| 192 |
+
"position": [
|
| 193 |
+
0.08347863424569368,
|
| 194 |
+
0.0182148076401063,
|
| 195 |
+
0.03751591462059878
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.21953296735387542,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.6777134271689386,
|
| 201 |
+
-0.49268204564421536,
|
| 202 |
+
0.49977413776581653
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_14": {
|
| 207 |
+
"confidence": 0.7231244444847107,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.08849033247679472,
|
| 210 |
+
-0.02125962751051702,
|
| 211 |
+
-0.05660794806317426
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5896004869679762,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.42879880855779134,
|
| 217 |
+
0.2174625306177066,
|
| 218 |
+
-0.6490091642834381
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_16": {
|
| 223 |
+
"confidence": 0.7171984910964966,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.08265015762299299,
|
| 226 |
+
-0.035302619655340095,
|
| 227 |
+
-0.05799685922102071
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.6572161120399453,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.1390004349060844,
|
| 233 |
+
0.44556127142712343,
|
| 234 |
+
0.5917947402396061
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_19": {
|
| 239 |
+
"confidence": 0.7066071033477783,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.1122972471639514,
|
| 242 |
+
-0.0013985737186885672,
|
| 243 |
+
0.011294143827399239
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.44312058947947325,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.556975827429805,
|
| 249 |
+
0.4993060117943571,
|
| 250 |
+
0.49408053738663005
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "upper lever",
|
| 258 |
+
"mask_color": "Yellow",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "grasp the upper lever to rotate it into operating position",
|
| 263 |
+
"confidence": 0.9
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "press down on the upper lever to actuate the clipper while the body is supported",
|
| 267 |
+
"confidence": 0.88
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"scenario": "pinch the lever lightly to help orient the clipper",
|
| 271 |
+
"confidence": 0.46
|
| 272 |
+
}
|
| 273 |
+
],
|
| 274 |
+
"functional_labels": [
|
| 275 |
+
"press to cut nails",
|
| 276 |
+
"provide finger press surface",
|
| 277 |
+
"transfer force to the cutting jaws",
|
| 278 |
+
"fold for storage"
|
| 279 |
+
],
|
| 280 |
+
"semantic_description": "Slim white-coated metal lever on top of the clipper, with a smooth mildly glossy finish, tapered rectangular shape, and visible stamped branding/markings on the upper surface.",
|
| 281 |
+
"id": 3,
|
| 282 |
+
"grasp_group": {
|
| 283 |
+
"grasp_22": {
|
| 284 |
+
"confidence": 0.7004883289337158,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.09849981497973204,
|
| 287 |
+
0.01623862309315882,
|
| 288 |
+
-0.015662211371818557
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.41240463161888674,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.4723013602487964,
|
| 294 |
+
0.4024465175106853,
|
| 295 |
+
-0.6670012334845778
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_26": {
|
| 300 |
+
"confidence": 0.5780117511749268,
|
| 301 |
+
"position": [
|
| 302 |
+
0.09145220834761858,
|
| 303 |
+
0.003665102207378368,
|
| 304 |
+
0.02655823770328425
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.3538117802983826,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.6749548539637812,
|
| 310 |
+
-0.38994589090396903,
|
| 311 |
+
-0.5169094421655791
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_28": {
|
| 316 |
+
"confidence": 0.560603678226471,
|
| 317 |
+
"position": [
|
| 318 |
+
0.09488356579095125,
|
| 319 |
+
0.0023183785651781363,
|
| 320 |
+
0.017942572565516457
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.3961676291181146,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.6228649582657565,
|
| 326 |
+
-0.4128313427112519,
|
| 327 |
+
-0.5335360680204797
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_37": {
|
| 332 |
+
"confidence": 0.29094165563583374,
|
| 333 |
+
"position": [
|
| 334 |
+
0.10029913950711489,
|
| 335 |
+
0.029699574019105057,
|
| 336 |
+
0.02526690679951571
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.43525846638791266,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.693231575193394,
|
| 342 |
+
-0.29915231243317353,
|
| 343 |
+
-0.4903957020186992
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_38": {
|
| 348 |
+
"confidence": 0.27774959802627563,
|
| 349 |
+
"position": [
|
| 350 |
+
0.10085677076131105,
|
| 351 |
+
0.012790282051355462,
|
| 352 |
+
0.03025386537774466
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.17781535623100178,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.770946278629613,
|
| 358 |
+
-0.11540881918048751,
|
| 359 |
+
-0.6005866623651899
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
}
|
| 363 |
+
}
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"part_name": "pivot pin",
|
| 367 |
+
"mask_color": "Orange",
|
| 368 |
+
"graspable": false,
|
| 369 |
+
"grasp_scenarios": [],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"act as rotation joint",
|
| 372 |
+
"connect lever to body",
|
| 373 |
+
"maintain alignment",
|
| 374 |
+
"allow folding motion"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "Small silver metal pin or rivet near the clipper head, with a reflective smooth surface and rounded top, located where the lever attaches to the body.",
|
| 377 |
+
"id": 4,
|
| 378 |
+
"grasp_group": {}
|
| 379 |
+
}
|
| 380 |
+
],
|
| 381 |
+
"quality_check": {
|
| 382 |
+
"success": true,
|
| 383 |
+
"message": "YES"
|
| 384 |
+
}
|
| 385 |
+
}
|
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1673ab0e1850ce298971dd3aa94bf23286697e8c5beb1e583eb850dc43bf0beb
|
| 3 |
+
size 3780504
|
dataset/bathroom_supplies/personal_care/9afe2aefe58758f78e01cefdaa7fc2e9/nail_clipper_040.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>
|