Add asset bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/affordance_annot.json +329 -0
- dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/comb_003.urdf +1 -0
.gitattributes
CHANGED
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@@ -8034,3 +8034,4 @@ dataset/bathroom_supplies/personal_care/9be919c44b3b55438c9b722cfac9a717/afforda
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| 8034 |
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8035 |
dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8036 |
dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8034 |
dataset/bathroom_supplies/personal_care/9c2ce8b4b5305610acab27055bdcbe8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8035 |
dataset/bathroom_supplies/personal_care/9c75f39997b75a2cb275ded7d91dd796/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8036 |
dataset/bathroom_supplies/personal_care/9e1c9f4a38f2576f935ee92d802eaefc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8037 |
+
dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb handle and back frame",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the comb",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the solid back frame while orienting the comb for grooming",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "stabilize the comb by clamping the broad solid body during use",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"support the tooth row",
|
| 24 |
+
"enable orientation control",
|
| 25 |
+
"transfer grooming force"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large olive-green plastic handle and surrounding back frame with a mostly matte smooth hard surface, gently curved shape, and light printed markings near the handle end.",
|
| 28 |
+
"id": 2,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_1": {
|
| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 36 |
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],
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| 37 |
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"orientation": {
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"xyz": [
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
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| 46 |
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"grasp_2": {
|
| 47 |
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"confidence": 0.9937098026275635,
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| 48 |
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"position": [
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| 50 |
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"grasp_3": {
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"grasp_5": {
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| 95 |
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|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_18": {
|
| 223 |
+
"confidence": 0.9853532910346985,
|
| 224 |
+
"position": [
|
| 225 |
+
0.10936466930434108,
|
| 226 |
+
0.04003078676760197,
|
| 227 |
+
0.002203045878559351
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7003692866762702,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.00989515921248554,
|
| 233 |
+
-0.713474106596109,
|
| 234 |
+
0.018429523097883586
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "comb teeth",
|
| 242 |
+
"mask_color": "Orange",
|
| 243 |
+
"graspable": false,
|
| 244 |
+
"grasp_scenarios": [],
|
| 245 |
+
"functional_labels": [
|
| 246 |
+
"comb hair",
|
| 247 |
+
"separate strands",
|
| 248 |
+
"guide grooming motion",
|
| 249 |
+
"contact hair during styling"
|
| 250 |
+
],
|
| 251 |
+
"semantic_description": "Dense row of thin olive-green plastic teeth with a hard smooth surface, forming the wide working edge of the comb head.",
|
| 252 |
+
"id": 4,
|
| 253 |
+
"grasp_group": {}
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"part_name": "neck transition",
|
| 257 |
+
"mask_color": "Purple",
|
| 258 |
+
"graspable": true,
|
| 259 |
+
"grasp_scenarios": [
|
| 260 |
+
{
|
| 261 |
+
"scenario": "pinch the narrow neck briefly to reposition the comb",
|
| 262 |
+
"confidence": 0.4
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"scenario": "hold the neck momentarily to rotate the comb before use",
|
| 266 |
+
"confidence": 0.34
|
| 267 |
+
}
|
| 268 |
+
],
|
| 269 |
+
"functional_labels": [
|
| 270 |
+
"connect handle to comb head",
|
| 271 |
+
"form the grip transition",
|
| 272 |
+
"provide structural continuity"
|
| 273 |
+
],
|
| 274 |
+
"semantic_description": "Small olive-green plastic transition section with a smooth hard surface, slightly constricted and curved between the handle and the toothed section.",
|
| 275 |
+
"id": 5,
|
| 276 |
+
"grasp_group": {
|
| 277 |
+
"grasp_20": {
|
| 278 |
+
"confidence": 0.9776747822761536,
|
| 279 |
+
"position": [
|
| 280 |
+
-0.08980413200333714,
|
| 281 |
+
0.10647327080368996,
|
| 282 |
+
-0.002909591654315591
|
| 283 |
+
],
|
| 284 |
+
"orientation": {
|
| 285 |
+
"w": 0.6832030882158471,
|
| 286 |
+
"xyz": [
|
| 287 |
+
0.19241842541599308,
|
| 288 |
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0.6806902133285613,
|
| 289 |
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-0.18129954024066866
|
| 290 |
+
]
|
| 291 |
+
}
|
| 292 |
+
},
|
| 293 |
+
"grasp_21": {
|
| 294 |
+
"confidence": 0.9715635776519775,
|
| 295 |
+
"position": [
|
| 296 |
+
-0.09779429854825139,
|
| 297 |
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0.010370358126237988,
|
| 298 |
+
-0.0016213430790230632
|
| 299 |
+
],
|
| 300 |
+
"orientation": {
|
| 301 |
+
"w": 0.6988633350645134,
|
| 302 |
+
"xyz": [
|
| 303 |
+
-0.14335117892442542,
|
| 304 |
+
0.6896896571102812,
|
| 305 |
+
0.12397038065032467
|
| 306 |
+
]
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"part_name": "printed logo markings",
|
| 313 |
+
"mask_color": "Yellow",
|
| 314 |
+
"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
+
"functional_labels": [
|
| 317 |
+
"brand marking",
|
| 318 |
+
"visual decoration"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Small light yellow printed logo and character markings on the handle, flat and smooth, positioned near the rounded grip end.",
|
| 321 |
+
"id": 3,
|
| 322 |
+
"grasp_group": {}
|
| 323 |
+
}
|
| 324 |
+
],
|
| 325 |
+
"quality_check": {
|
| 326 |
+
"success": true,
|
| 327 |
+
"message": "YES"
|
| 328 |
+
}
|
| 329 |
+
}
|
dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5069cf8c65cc557cdce0596140fd8d6abb59b4a8fcaff604224f2487d8e4b09
|
| 3 |
+
size 3786476
|
dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/comb_003.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|