Add asset bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/affordance_annot.json +342 -0
- dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/toothbrush_018.urdf +4 -3
.gitattributes
CHANGED
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@@ -5869,3 +5869,4 @@ dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/afforda
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| 5869 |
dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5870 |
dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5871 |
dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5869 |
dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5870 |
dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5871 |
dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/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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dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the toothbrush",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the handle to orient the brush head for cleaning",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the toothbrush during placement or retrieval",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support brushing motion",
|
| 24 |
+
"connect to brush head",
|
| 25 |
+
"provide reach and leverage",
|
| 26 |
+
"stabilize object during handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long slightly tapered white plastic handle with a hard smooth mostly matte surface and medium thickness, forming the main body of the toothbrush from the neck to the rear end.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9896689057350159,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.5055055007743477,
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| 40 |
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"xyz": [
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| 42 |
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| 43 |
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| 44 |
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]
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| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_3": {
|
| 48 |
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"confidence": 0.9886856079101562,
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| 49 |
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"position": [
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| 62 |
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"grasp_4": {
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"grasp_5": {
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| 80 |
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"confidence": 0.9880369901657104,
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"position": [
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"orientation": {
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},
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"grasp_6": {
|
| 96 |
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"orientation": {
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"grasp_7": {
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}
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| 319 |
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}
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| 320 |
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},
|
| 321 |
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{
|
| 322 |
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"part_name": "bristle head and grip inlay",
|
| 323 |
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"mask_color": "Cyan",
|
| 324 |
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"graspable": false,
|
| 325 |
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"grasp_scenarios": [],
|
| 326 |
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"functional_labels": [
|
| 327 |
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"scrub teeth surfaces",
|
| 328 |
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"clean along gumline",
|
| 329 |
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"apply toothpaste during brushing",
|
| 330 |
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"provide contact texture for cleaning",
|
| 331 |
+
"add localized grip texture on the handle"
|
| 332 |
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],
|
| 333 |
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"semantic_description": "Cyan-masked parts include the dense short gray bristles at the front toothbrush head and a small oval gray textured rubber-like inlay on the handle center; both appear gray against the white plastic body.",
|
| 334 |
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"id": 6,
|
| 335 |
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"grasp_group": {}
|
| 336 |
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}
|
| 337 |
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],
|
| 338 |
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"quality_check": {
|
| 339 |
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"success": true,
|
| 340 |
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"message": "YES"
|
| 341 |
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}
|
| 342 |
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}
|
dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6cdda2b688408a403e80efeb9a50ba2731b4070699e65c31685e319bcedb6af5
|
| 3 |
+
size 3785684
|
dataset/bathroom_supplies/personal_care/eefb70c98b505a86b001bf52747c120b/toothbrush_018.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>2</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|