Add asset bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/affordance_annot.json +370 -0
- dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.urdf +1 -0
.gitattributes
CHANGED
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@@ -5794,3 +5794,4 @@ dataset/bathroom_supplies/personal_care/4c46025624855d71804c9859ba3e372b/afforda
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| 5794 |
dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5795 |
dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5796 |
dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5794 |
dataset/bathroom_supplies/personal_care/4d6337f9178d506ebdd785dc80cbe505/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5795 |
dataset/bathroom_supplies/personal_care/4eb21f975a655a62aece020721e49981/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5796 |
dataset/bathroom_supplies/personal_care/4f879f3561985d35b2525be6693e6c8b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5797 |
+
dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the comb body along its thick spine to pick up the comb",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the comb body to orient the teeth for grooming",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the body to stabilize the comb while setting it down or repositioning it",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support the teeth",
|
| 24 |
+
"provide structural rigidity",
|
| 25 |
+
"position the comb during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Curved olive-green plastic body with a matte to satin finish, hard smooth surface, woodgrain-like streaking, and a thicker rounded spine forming the larger outer frame of the comb.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9794543385505676,
|
| 32 |
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"position": [
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| 33 |
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|
| 34 |
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0.10242148023098707,
|
| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.4724375937807956,
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| 39 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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]
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| 44 |
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}
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| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.9788563251495361,
|
| 48 |
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"position": [
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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| 55 |
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"xyz": [
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| 59 |
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]
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| 60 |
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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": 0.9785144925117493,
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| 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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],
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| 69 |
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"orientation": {
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"w": 0.5421628637434855,
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"xyz": [
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9781196117401123,
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| 80 |
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"position": [
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| 84 |
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],
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| 85 |
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"orientation": {
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"w": 0.5239757429571376,
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"xyz": [
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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_4": {
|
| 95 |
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"confidence": 0.9781007766723633,
|
| 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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],
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| 101 |
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"orientation": {
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"xyz": [
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]
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9780409336090088,
|
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"position": [
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| 123 |
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}
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"grasp_6": {
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},
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"grasp_7": {
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"confidence": 0.9773927330970764,
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},
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"grasp_9": {
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"grasp_10": {
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],
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}
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}
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},
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| 336 |
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{
|
| 337 |
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"part_name": "comb teeth",
|
| 338 |
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"mask_color": "Green",
|
| 339 |
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|
| 340 |
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|
| 341 |
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"functional_labels": [
|
| 342 |
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"comb hair",
|
| 343 |
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"separate strands",
|
| 344 |
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"guide grooming motion",
|
| 345 |
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"contact hair during use"
|
| 346 |
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],
|
| 347 |
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"semantic_description": "A row of narrow olive-green plastic teeth with a matte smooth hard surface, evenly spaced and projecting from one edge as the fine working end of the comb.",
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| 348 |
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"id": 1,
|
| 349 |
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"grasp_group": {}
|
| 350 |
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},
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| 351 |
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{
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| 352 |
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"part_name": "decorative emblem",
|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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| 357 |
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"decorate the comb",
|
| 358 |
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"provide visual branding",
|
| 359 |
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"indicate orientation"
|
| 360 |
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],
|
| 361 |
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"semantic_description": "Small amber-brown oval inset on the side of the comb body, likely plastic or printed decoration, with a slightly glossy smooth finish and a shallow raised appearance.",
|
| 362 |
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"id": 2,
|
| 363 |
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"grasp_group": {}
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| 364 |
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}
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| 365 |
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],
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| 366 |
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"quality_check": {
|
| 367 |
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"success": true,
|
| 368 |
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"message": "YES"
|
| 369 |
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}
|
| 370 |
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}
|
dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:50157719fb401a36792da9d4ea08127eed01d3c83cd8dc025a1f777240738cbd
|
| 3 |
+
size 3823384
|
dataset/bathroom_supplies/personal_care/506d58fb435356039dbf0610859c46cd/comb_035.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>
|