Add asset bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/affordance_annot.json +484 -0
- dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/dental_floss_040.urdf +1 -0
.gitattributes
CHANGED
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@@ -8020,3 +8020,4 @@ dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/afforda
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| 8020 |
dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8021 |
dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8022 |
dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8020 |
dataset/bathroom_supplies/personal_care/918b07ba6bd95374a5865c813a1a8aa5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8021 |
dataset/bathroom_supplies/personal_care/91bfba95299d55bfb6d0ead92aa972bc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8022 |
dataset/bathroom_supplies/personal_care/924fc91cc6e55c9dae0d9a00ac280e33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8023 |
+
dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,484 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "container body",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main case body to pick up and carry the floss-pick container",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the case while opening the lid or removing a floss pick",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main enclosure for the floss picks",
|
| 19 |
+
"primary grasp surface",
|
| 20 |
+
"support the lid and side loop attachments",
|
| 21 |
+
"protect internal contents"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "The main body is a small rounded plastic shell with mostly white sides and a red front panel, smooth and glossy, forming most of the container volume.",
|
| 24 |
+
"id": 6,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_52": {
|
| 27 |
+
"confidence": 0.9273526668548584,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.6753791399733386,
|
| 35 |
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"xyz": [
|
| 36 |
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|
| 37 |
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-0.19748777376491122,
|
| 38 |
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|
| 39 |
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]
|
| 40 |
+
}
|
| 41 |
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},
|
| 42 |
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"grasp_56": {
|
| 43 |
+
"confidence": 0.9157454371452332,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.6993675433616807,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_57": {
|
| 59 |
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"confidence": 0.9143754839897156,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.710789358675943,
|
| 67 |
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"xyz": [
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| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_58": {
|
| 75 |
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"confidence": 0.9143019318580627,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.7015434593198395,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_59": {
|
| 91 |
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"confidence": 0.9135037660598755,
|
| 92 |
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"position": [
|
| 93 |
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-0.005315124988555908,
|
| 94 |
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0.12461314664687961,
|
| 95 |
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0.0010511698201298714
|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.15211566776294427,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_60": {
|
| 107 |
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"confidence": 0.9134541153907776,
|
| 108 |
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"position": [
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| 109 |
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|
| 111 |
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|
| 112 |
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],
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| 113 |
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"orientation": {
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| 114 |
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"w": 0.6974030845228248,
|
| 115 |
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"xyz": [
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| 116 |
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| 118 |
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| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_61": {
|
| 123 |
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"confidence": 0.9107198715209961,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
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| 130 |
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"w": 0.7100379599037967,
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| 131 |
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"xyz": [
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| 132 |
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| 134 |
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| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_63": {
|
| 139 |
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"confidence": 0.9086299538612366,
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| 140 |
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"position": [
|
| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
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| 146 |
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"w": 0.11262533444997289,
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| 147 |
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"xyz": [
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| 148 |
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{
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{
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},
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{
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"scenario": "grasp the loop to help retrieve the case from a bag",
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],
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],
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],
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"semantic_description": "The bottom pad is an oval recessed base area on the underside, light gray to off-white and matte-smooth, centered on the bottom.",
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"message": "Several part descriptions mismatch colors/materials; side loop type and rim color are incorrect."
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}
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| 484 |
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}
|
dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:29d4c51db419eb3fc8e6ecbdc51b6bb89ecef73e8128ac3001b7e8a998763a4d
|
| 3 |
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size 3766436
|
dataset/bathroom_supplies/personal_care/92cc2e49121f54519d6bb05e93efb557/dental_floss_040.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|