Add asset bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/affordance_annot.json +347 -0
- dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/razor_031.urdf +1 -0
.gitattributes
CHANGED
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@@ -5872,3 +5872,4 @@ dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/afforda
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| 5872 |
dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5873 |
dataset/bathroom_supplies/personal_care/ef14279d9388537e9aa7353c161cc978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5874 |
dataset/bathroom_supplies/personal_care/efb4f469af9c5f7594503196e7f3c96c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5872 |
dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5873 |
dataset/bathroom_supplies/personal_care/ef14279d9388537e9aa7353c161cc978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5874 |
dataset/bathroom_supplies/personal_care/efb4f469af9c5f7594503196e7f3c96c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5875 |
+
dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "razor handle",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the razor for shaving",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to orient the razor head toward a surface",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize or carry the razor between uses",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip",
|
| 23 |
+
"support shaving motion",
|
| 24 |
+
"orient the razor head",
|
| 25 |
+
"stabilize and carry the razor"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long curved orange plastic handle with a matte finish and dense ribbed texture for traction, forming the largest lower part of the razor. One side has a dark gray central inlay and visible branding.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "razor head support",
|
| 33 |
+
"mask_color": "Purple",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the head support carefully to reposition the razor from tight storage",
|
| 38 |
+
"confidence": 0.31
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the head support to stabilize the razor during maintenance or inspection",
|
| 42 |
+
"confidence": 0.27
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"support the blade cartridge",
|
| 47 |
+
"connect the cartridge area to the handle",
|
| 48 |
+
"guide shaving angle",
|
| 49 |
+
"provide structural head support"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Dark gray plastic yoke-like head support with orange outer edges near the top of the razor, matte and smoothly contoured, surrounding the blade cartridge area rather than including the blades themselves.",
|
| 52 |
+
"id": 5,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_0": {
|
| 55 |
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"confidence": 0.9782771468162537,
|
| 56 |
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"position": [
|
| 57 |
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|
| 58 |
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-0.04371549030474853,
|
| 59 |
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-0.0036316805344540626
|
| 60 |
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],
|
| 61 |
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"orientation": {
|
| 62 |
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"w": 0.6942778397495327,
|
| 63 |
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"xyz": [
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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]
|
| 68 |
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}
|
| 69 |
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},
|
| 70 |
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"grasp_1": {
|
| 71 |
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"confidence": 0.9756768345832825,
|
| 72 |
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"position": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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],
|
| 77 |
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"orientation": {
|
| 78 |
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"w": 0.32918435305211685,
|
| 79 |
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"xyz": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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]
|
| 84 |
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}
|
| 85 |
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},
|
| 86 |
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"grasp_2": {
|
| 87 |
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"confidence": 0.9753386974334717,
|
| 88 |
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"position": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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],
|
| 93 |
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"orientation": {
|
| 94 |
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"w": 0.6923526747028775,
|
| 95 |
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"xyz": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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]
|
| 100 |
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}
|
| 101 |
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},
|
| 102 |
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"grasp_3": {
|
| 103 |
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"confidence": 0.9750710129737854,
|
| 104 |
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"position": [
|
| 105 |
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|
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|
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|
| 108 |
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],
|
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"orientation": {
|
| 110 |
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"w": 0.6911507040561168,
|
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"xyz": [
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|
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|
| 114 |
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|
| 115 |
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]
|
| 116 |
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}
|
| 117 |
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},
|
| 118 |
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"grasp_4": {
|
| 119 |
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"confidence": 0.9747738242149353,
|
| 120 |
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"position": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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],
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"orientation": {
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}
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},
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"grasp_5": {
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| 135 |
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"confidence": 0.9736060500144958,
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"position": [
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],
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"orientation": {
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]
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}
|
| 149 |
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},
|
| 150 |
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"grasp_6": {
|
| 151 |
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"confidence": 0.9726861715316772,
|
| 152 |
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"position": [
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],
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"orientation": {
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|
| 167 |
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"confidence": 0.9722703695297241,
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|
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"grasp_8": {
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"confidence": 0.9719021320343018,
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"orientation": {
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|
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|
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},
|
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"grasp_9": {
|
| 199 |
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"confidence": 0.9714421629905701,
|
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"position": [
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],
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}
|
| 326 |
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}
|
| 327 |
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},
|
| 328 |
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{
|
| 329 |
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"part_name": "release button",
|
| 330 |
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"mask_color": "Blue",
|
| 331 |
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"graspable": false,
|
| 332 |
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"grasp_scenarios": [],
|
| 333 |
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"functional_labels": [
|
| 334 |
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"actuate cartridge release",
|
| 335 |
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"enable head replacement",
|
| 336 |
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"provide control input"
|
| 337 |
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],
|
| 338 |
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"semantic_description": "Small dark gray oval button set into the upper handle near the head, with a smooth slightly matte hard plastic surface and shallow recessed placement.",
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| 339 |
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"id": 2,
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| 340 |
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"grasp_group": {}
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| 341 |
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}
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| 342 |
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],
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| 343 |
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"quality_check": {
|
| 344 |
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"success": false,
|
| 345 |
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"message": "Handle description is wrong; no dark gray inlay/branding on mask region, and head support description includes orange areas outside purple mask."
|
| 346 |
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}
|
| 347 |
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}
|
dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:673b4106db5578998103ec22b374a14d4332a3729f8f02f1779d39e025377ac4
|
| 3 |
+
size 3755296
|
dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/razor_031.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>
|