Add asset bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/affordance/affordance_annot.json +396 -0
- dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.urdf +1 -0
.gitattributes
CHANGED
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@@ -5883,3 +5883,4 @@ dataset/bathroom_supplies/personal_care/fb8576f9be4b569588d9f90757229b14/afforda
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| 5883 |
dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5884 |
dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5885 |
dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5883 |
dataset/bathroom_supplies/personal_care/fb8c2c8507f65189b19c2062355405b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5884 |
dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5885 |
dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5886 |
+
dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,396 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewall to pick up and move the cup",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper body to stabilize the cup during filling or rinsing",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"provide main grasp surface",
|
| 20 |
+
"support drinking or rinsing",
|
| 21 |
+
"form the cup structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Main tapered cup body in translucent light blue plastic with a smooth slightly glossy hard surface, medium size, forming the upper and central walls with a white floral graphic printed on one side.",
|
| 24 |
+
"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9708033800125122,
|
| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.7514179861173119,
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| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.9692951440811157,
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| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.23494876336402706,
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| 51 |
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"xyz": [
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| 54 |
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| 55 |
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]
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| 56 |
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}
|
| 57 |
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},
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| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9692646861076355,
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| 60 |
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"position": [
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| 61 |
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"orientation": {
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},
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"grasp_3": {
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| 75 |
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"confidence": 0.9686248302459717,
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"position": [
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"orientation": {
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"xyz": [
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| 87 |
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]
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}
|
| 89 |
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},
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| 90 |
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"grasp_4": {
|
| 91 |
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"confidence": 0.9672659039497375,
|
| 92 |
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"position": [
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| 93 |
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| 96 |
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],
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"orientation": {
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"grasp_5": {
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"orientation": {
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"grasp_6": {
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| 123 |
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"grasp_7": {
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| 139 |
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"orientation": {
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| 169 |
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| 170 |
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"grasp_9": {
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| 171 |
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| 187 |
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| 188 |
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"position": [
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| 352 |
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| 367 |
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],
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"semantic_description": "Lower exterior band in slightly darker blue translucent plastic, integrated with the cup wall and marked by shallow horizontal ribs encircling the cup just above the base.",
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"scenario": "contact the bottom surface to support or set the cup down",
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],
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"stabilize the cup",
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"form bottom closure"
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| 386 |
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],
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| 387 |
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"semantic_description": "Flat circular bottom in darker blue translucent plastic with a smooth hard finish, located at the lowest part of the cup and forming the standing surface.",
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| 388 |
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"id": 5,
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| 389 |
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],
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"quality_check": {
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| 393 |
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"success": true,
|
| 394 |
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"message": "YES"
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| 395 |
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}
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| 396 |
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}
|
dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:36545f81660598ed2c157b4711c9a18b145d47bef0509a140a8fa36dec659263
|
| 3 |
+
size 3793204
|
dataset/bathroom_supplies/personal_care/ff4e4d96ddf25057bbec94f964abe210/mouthwash_cup_022.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>NO: {"summary":"Decoration is segmented as a part; cup body and base banding are acceptable.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Decoration is segmented as a part; cup body and base banding are acceptable.","merge_groups":[]}</PartSegChecker>
|