Add asset bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/affordance_annot.json +375 -0
- dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -5820,4 +5820,5 @@ dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/afforda
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5823 |
-
dataset/bathroom_supplies/personal_care/
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5823 |
+
dataset/bathroom_supplies/personal_care/b7ad10e1bdc95c6fb54e8bba5bd5d899/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5824 |
+
dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle body to pick up and reposition the toothbrush",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle securely during brushing or while presenting the brush head",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the toothbrush by clamping the handle during inspection or setup",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support manipulation",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"house internal electronics"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large elongated black plastic handle with a mostly matte smooth hard surface and rounded rectangular cross-section, occupying most of the toothbrush length and showing a circular illuminated power-button area on the front.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9923179149627686,
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| 32 |
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"position": [
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| 33 |
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| 34 |
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],
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| 37 |
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"orientation": {
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"w": 0.26935345181439946,
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"xyz": [
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| 42 |
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]
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| 44 |
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}
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| 45 |
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},
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| 46 |
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"grasp_1": {
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| 47 |
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"confidence": 0.9923151731491089,
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| 48 |
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"position": [
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"orientation": {
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"xyz": [
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| 60 |
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}
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| 61 |
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},
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| 62 |
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"grasp_2": {
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| 63 |
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"confidence": 0.9920985698699951,
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"position": [
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"orientation": {
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"w": 0.1848461208918507,
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"xyz": [
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},
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"grasp_3": {
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"confidence": 0.9920246601104736,
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"position": [
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],
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"orientation": {
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"xyz": [
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]
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}
|
| 93 |
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},
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| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.991939127445221,
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"position": [
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"orientation": {
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"grasp_6": {
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"position": [
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| 193 |
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-0.05898923147469759,
|
| 194 |
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0.08491583697468741,
|
| 195 |
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0.012732447125017643
|
| 196 |
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],
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| 197 |
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"orientation": {
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| 198 |
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"w": 0.32689596567731216,
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| 199 |
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"xyz": [
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| 200 |
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0.6418578911872262,
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| 201 |
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-0.38290274360147947,
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| 202 |
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0.5783968914915115
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| 203 |
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]
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| 204 |
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}
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| 205 |
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},
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| 206 |
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"grasp_16": {
|
| 207 |
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"confidence": 0.9912388920783997,
|
| 208 |
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"position": [
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| 209 |
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-0.03738899249583483,
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| 210 |
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-0.004467542115889955,
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| 211 |
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0.08798866532742977
|
| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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"w": 0.15213344092614894,
|
| 215 |
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"xyz": [
|
| 216 |
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0.681619096191607,
|
| 217 |
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0.6905605548077419,
|
| 218 |
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0.18808759662064506
|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"grasp_17": {
|
| 223 |
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"confidence": 0.9911457896232605,
|
| 224 |
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"position": [
|
| 225 |
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-0.04357708711177111,
|
| 226 |
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-0.016492760107212234,
|
| 227 |
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0.08599242381751537
|
| 228 |
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],
|
| 229 |
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"orientation": {
|
| 230 |
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"w": 0.11385666221765971,
|
| 231 |
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"xyz": [
|
| 232 |
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0.6838406666497525,
|
| 233 |
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0.6826312769153879,
|
| 234 |
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0.2311128358216892
|
| 235 |
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]
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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"grasp_18": {
|
| 239 |
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"confidence": 0.991084098815918,
|
| 240 |
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"position": [
|
| 241 |
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-0.044562541879713535,
|
| 242 |
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-0.010409358255856205,
|
| 243 |
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0.08622690103948116
|
| 244 |
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],
|
| 245 |
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"orientation": {
|
| 246 |
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"w": 0.1376365341460061,
|
| 247 |
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"xyz": [
|
| 248 |
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0.6865743035759992,
|
| 249 |
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0.6805420632825622,
|
| 250 |
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0.21571835860797745
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_19": {
|
| 255 |
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"confidence": 0.9909880757331848,
|
| 256 |
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"position": [
|
| 257 |
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-0.03139484208077192,
|
| 258 |
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0.088106160685129,
|
| 259 |
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0.015539228916168213
|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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"w": 0.546367476857512,
|
| 263 |
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"xyz": [
|
| 264 |
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0.43537821460634296,
|
| 265 |
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0.63418271590484,
|
| 266 |
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-0.3312712986754364
|
| 267 |
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]
|
| 268 |
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}
|
| 269 |
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}
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "neck",
|
| 274 |
+
"mask_color": "Yellow",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "delicately grasp the narrow neck to orient the brush head precisely",
|
| 279 |
+
"confidence": 0.41
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "hold the neck temporarily for close inspection or careful handoff",
|
| 283 |
+
"confidence": 0.33
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"connect handle to brush head",
|
| 288 |
+
"provide reach to mouth",
|
| 289 |
+
"position the bristles",
|
| 290 |
+
"transmit brushing motion"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Slim narrow light-colored neck, appearing white to pale gray, with a smooth hard finish tapering forward from the handle to the head as a small connector section.",
|
| 293 |
+
"id": 3,
|
| 294 |
+
"grasp_group": {
|
| 295 |
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"grasp_29": {
|
| 296 |
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"confidence": 0.7277713418006897,
|
| 297 |
+
"position": [
|
| 298 |
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-0.17334450874477625,
|
| 299 |
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-0.052896572575264145,
|
| 300 |
+
0.009967424906790257
|
| 301 |
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],
|
| 302 |
+
"orientation": {
|
| 303 |
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"w": 0.6585532867254887,
|
| 304 |
+
"xyz": [
|
| 305 |
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-0.22250368102470788,
|
| 306 |
+
0.701002248464184,
|
| 307 |
+
0.15935974435744468
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"part_name": "bristle tufts",
|
| 315 |
+
"mask_color": "Brown",
|
| 316 |
+
"graspable": false,
|
| 317 |
+
"grasp_scenarios": [],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"scrub teeth",
|
| 320 |
+
"clean along gumline",
|
| 321 |
+
"apply toothpaste",
|
| 322 |
+
"contact cleaning surface"
|
| 323 |
+
],
|
| 324 |
+
"semantic_description": "Small clustered bristles in blue, white, and green tones, likely nylon, with a soft fine textured appearance projecting from the compact brush head.",
|
| 325 |
+
"id": 11,
|
| 326 |
+
"grasp_group": {}
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"part_name": "button and indicator markings",
|
| 330 |
+
"mask_color": "Orange",
|
| 331 |
+
"graspable": false,
|
| 332 |
+
"grasp_scenarios": [],
|
| 333 |
+
"functional_labels": [
|
| 334 |
+
"power/control interface",
|
| 335 |
+
"status or mode marking area",
|
| 336 |
+
"user interaction point"
|
| 337 |
+
],
|
| 338 |
+
"semantic_description": "Small front details on the handle, including the circular power-button area and a small lower indicator or printed marking region; these appear as subtle handle features rather than separate structural parts.",
|
| 339 |
+
"id": 4,
|
| 340 |
+
"grasp_group": {}
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"part_name": "end cap",
|
| 344 |
+
"mask_color": "Green",
|
| 345 |
+
"graspable": false,
|
| 346 |
+
"grasp_scenarios": [],
|
| 347 |
+
"functional_labels": [
|
| 348 |
+
"close handle end",
|
| 349 |
+
"protect internal components",
|
| 350 |
+
"provide resting contact surface"
|
| 351 |
+
],
|
| 352 |
+
"semantic_description": "Flat circular dark end cap of hard plastic with a smooth finish, forming the base at the bottom of the handle.",
|
| 353 |
+
"id": 1,
|
| 354 |
+
"grasp_group": {}
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"part_name": "collar ring",
|
| 358 |
+
"mask_color": "Blue",
|
| 359 |
+
"graspable": false,
|
| 360 |
+
"grasp_scenarios": [],
|
| 361 |
+
"functional_labels": [
|
| 362 |
+
"join neck to handle",
|
| 363 |
+
"provide structural transition",
|
| 364 |
+
"indicate part boundary"
|
| 365 |
+
],
|
| 366 |
+
"semantic_description": "Thin blue accent ring with a smooth glossy plastic appearance located at the junction between the handle and the neck.",
|
| 367 |
+
"id": 2,
|
| 368 |
+
"grasp_group": {}
|
| 369 |
+
}
|
| 370 |
+
],
|
| 371 |
+
"quality_check": {
|
| 372 |
+
"success": false,
|
| 373 |
+
"message": "Neck/head part mislabeled and several descriptions mismatch visible colors/material; button markings over-segmented as structural part."
|
| 374 |
+
}
|
| 375 |
+
}
|
dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6f035995c0168a9336543e34adaaac77909445470da653a3ff0c77f6ad29a213
|
| 3 |
+
size 3797360
|
dataset/bathroom_supplies/personal_care/b66a9f7749ff55a8a99573294b32597b/toothbrush_039.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>
|