Add asset bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/affordance_annot.json +432 -0
- dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/toothbrush_037.urdf +1 -0
.gitattributes
CHANGED
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@@ -5778,4 +5778,4 @@ dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/afforda
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| 5778 |
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5779 |
dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5780 |
dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5781 |
-
dataset/bathroom_supplies/personal_care/
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| 5778 |
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5779 |
dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5780 |
dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5781 |
+
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,432 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothbrush handle body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle to pick up and hold the toothbrush during brushing",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lower handle to orient the toothbrush for placement or retrieval",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the toothbrush by the handle while applying toothpaste",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"support brushing motion",
|
| 24 |
+
"connect head to grip end",
|
| 25 |
+
"provide reach and leverage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long slim main body of the toothbrush including most of the handle and neck, primarily white plastic with a smooth finish, gently tapered with soft curves and a slightly thicker lower end.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.980757474899292,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.40283804559341807,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_2": {
|
| 47 |
+
"confidence": 0.965563178062439,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5558619205710481,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_3": {
|
| 63 |
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"confidence": 0.9622430801391602,
|
| 64 |
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"position": [
|
| 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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"orientation": {
|
| 70 |
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"w": 0.6223938030857576,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 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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},
|
| 78 |
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"grasp_4": {
|
| 79 |
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"confidence": 0.9487289190292358,
|
| 80 |
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"position": [
|
| 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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"orientation": {
|
| 86 |
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"w": 0.6530368068809653,
|
| 87 |
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"xyz": [
|
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|
| 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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},
|
| 94 |
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"grasp_5": {
|
| 95 |
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"confidence": 0.9307680130004883,
|
| 96 |
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"position": [
|
| 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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"orientation": {
|
| 102 |
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"w": 0.4199540098463944,
|
| 103 |
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"xyz": [
|
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|
| 106 |
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| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_6": {
|
| 111 |
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"confidence": 0.9275718331336975,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.3495213014941199,
|
| 119 |
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"xyz": [
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| 120 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_7": {
|
| 127 |
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"confidence": 0.9253281950950623,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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],
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"orientation": {
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| 134 |
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"xyz": [
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| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_8": {
|
| 143 |
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"confidence": 0.9229239225387573,
|
| 144 |
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"position": [
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| 145 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
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| 150 |
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"w": 0.36339356145980134,
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| 151 |
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"xyz": [
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| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_9": {
|
| 159 |
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"confidence": 0.9191679358482361,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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| 163 |
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"orientation": {
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{
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"confidence": 0.87
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},
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}
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],
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],
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"semantic_description": "Blue rubberized oval inlay set into the upper-middle handle, slightly recessed and softer-looking than the surrounding white plastic, positioned where a thumb or finger would rest.",
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},
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{
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"brand marking",
|
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"provide visual identification",
|
| 351 |
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"visual decoration"
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],
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"semantic_description": "Small blue printed brand/logo area on the handle near the grip region, flat and non-structural with a glossy printed appearance.",
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"id": 6,
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},
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{
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"support bristles",
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"position cleaning surface"
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],
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"semantic_description": "White plastic head base around the toothbrush bristles, hard smooth and slightly raised around the perimeter of the brush head.",
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| 368 |
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"id": 8,
|
| 369 |
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|
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},
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{
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"part_name": "outer bristles",
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|
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|
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"scrub tooth surfaces",
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"clean along edges",
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"contact teeth and gums"
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],
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"semantic_description": "Light blue bristle tufts arranged along the outer portions of the brush head, short fine and flexible, forming part of the rectangular brushing surface.",
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"id": 4,
|
| 383 |
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"grasp_group": {}
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},
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{
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"part_name": "center bristles",
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"mask_color": "Brown",
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|
| 389 |
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|
| 390 |
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"scrub tooth surfaces",
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"clean central contact area",
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"assist plaque removal"
|
| 394 |
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],
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"semantic_description": "White to very light bristle cluster running through the middle region of the brush head, fine flexible and closely packed.",
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| 396 |
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"id": 11,
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| 397 |
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},
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{
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"part_name": "accent bristles",
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|
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|
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|
| 404 |
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"reach between teeth",
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"add localized scrubbing",
|
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"provide brushing contour"
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],
|
| 409 |
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"semantic_description": "Small blue accent bristle tufts visible near the top portion of the brush head, fine and slightly protruding relative to nearby bristles.",
|
| 410 |
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"id": 1,
|
| 411 |
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"grasp_group": {}
|
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},
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{
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"part_name": "tip bristles",
|
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|
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|
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"grasp_scenarios": [],
|
| 418 |
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"clean hard-to-reach areas",
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"reach tooth edges",
|
| 421 |
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"assist precision brushing"
|
| 422 |
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],
|
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"semantic_description": "Small darker blue bristle tufts at the front tip of the toothbrush head, fine flexible and positioned to help reach tighter areas.",
|
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"id": 12,
|
| 425 |
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"grasp_group": {}
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}
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],
|
| 428 |
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"quality_check": {
|
| 429 |
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"success": false,
|
| 430 |
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"message": "Several part colors/descriptions mismatch images; logo and bristle color assignments are incorrect."
|
| 431 |
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}
|
| 432 |
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}
|
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:a0ddb15c28ed30ea9cab2ca1476f449fa418c38bbe446b97e62388af6fed037a
|
| 3 |
+
size 3798060
|
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/toothbrush_037.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>
|