Add asset bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/affordance_annot.json +358 -0
- dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/dental_floss_016.urdf +1 -0
.gitattributes
CHANGED
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@@ -8017,3 +8017,4 @@ dataset/bathroom_supplies/personal_care/8e06a014297553a889579ad2b01d31de/afforda
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| 8017 |
dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8018 |
dataset/bathroom_supplies/personal_care/9068da1f13d25154a9264cfec79a2d3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8019 |
dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8017 |
dataset/bathroom_supplies/personal_care/8ff578405af35fc183c3a41850888a8d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8018 |
dataset/bathroom_supplies/personal_care/9068da1f13d25154a9264cfec79a2d3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8019 |
dataset/bathroom_supplies/personal_care/8f6a9f4819405784994c4ce72dd9acb9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8020 |
+
dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,358 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the dental floss case",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while accessing the floss",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the case",
|
| 19 |
+
"protect the floss",
|
| 20 |
+
"open to provide access",
|
| 21 |
+
"retain closure with the base"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded white plastic lid with a smooth matte finish and hard surface, medium-sized on the top of the case. The outside has a faint embossed circular logo/detail, while the inside shows a shallow oval recessed detail.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.9449798464775085,
|
| 28 |
+
"position": [
|
| 29 |
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0.001936023822054267,
|
| 30 |
+
0.10942182492726715,
|
| 31 |
+
0.013309257570654154
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.702223935557746,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.700441871041831,
|
| 37 |
+
-0.09981902050617275,
|
| 38 |
+
0.07936556410936803
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
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},
|
| 42 |
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"grasp_6": {
|
| 43 |
+
"confidence": 0.9429495930671692,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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-0.05091439757234184,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.05276798602257328,
|
| 51 |
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"xyz": [
|
| 52 |
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-0.055702854360523545,
|
| 53 |
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0.965020477010434,
|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_12": {
|
| 59 |
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"confidence": 0.9378058910369873,
|
| 60 |
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"position": [
|
| 61 |
+
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|
| 62 |
+
-0.026524152715865057,
|
| 63 |
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0.09509777836501598
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.3247262774554883,
|
| 67 |
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"xyz": [
|
| 68 |
+
-0.016347430126608747,
|
| 69 |
+
0.9403683022472753,
|
| 70 |
+
0.09996530591527095
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_16": {
|
| 75 |
+
"confidence": 0.9352498054504395,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.028972351690754294,
|
| 78 |
+
0.10005860578530701,
|
| 79 |
+
0.051777852699160576
|
| 80 |
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],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5286195837897031,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.8239349583160045,
|
| 85 |
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-0.09386406082312759,
|
| 86 |
+
0.18133410651225282
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "case body",
|
| 94 |
+
"mask_color": "Green",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the case body to pick up and move the dental floss container",
|
| 99 |
+
"confidence": 0.96
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the case body while opening the lid",
|
| 103 |
+
"confidence": 0.94
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "stabilize the container while pulling floss",
|
| 107 |
+
"confidence": 0.91
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"functional_labels": [
|
| 111 |
+
"contain internal components",
|
| 112 |
+
"support the lid and hinge",
|
| 113 |
+
"provide main grasp surface",
|
| 114 |
+
"stabilize floss dispensing"
|
| 115 |
+
],
|
| 116 |
+
"semantic_description": "Compact rounded rectangular white plastic shell with a smooth matte hard surface, forming the lower half of the container and enclosing the floss compartment and cutter mount.",
|
| 117 |
+
"id": 1,
|
| 118 |
+
"grasp_group": {
|
| 119 |
+
"grasp_21": {
|
| 120 |
+
"confidence": 0.9509751796722412,
|
| 121 |
+
"position": [
|
| 122 |
+
0.013408908853307366,
|
| 123 |
+
-0.03180838573462097,
|
| 124 |
+
-0.0936067495495081
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.9817943142880301,
|
| 128 |
+
"xyz": [
|
| 129 |
+
-0.17719806661750123,
|
| 130 |
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-0.06659164629502423,
|
| 131 |
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-0.015694657130197357
|
| 132 |
+
]
|
| 133 |
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}
|
| 134 |
+
},
|
| 135 |
+
"grasp_22": {
|
| 136 |
+
"confidence": 0.9500298500061035,
|
| 137 |
+
"position": [
|
| 138 |
+
-6.85499981045723e-05,
|
| 139 |
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-0.10537763882166473,
|
| 140 |
+
-0.014678610488772392
|
| 141 |
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],
|
| 142 |
+
"orientation": {
|
| 143 |
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"w": 0.7508072654123654,
|
| 144 |
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"xyz": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
+
]
|
| 149 |
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}
|
| 150 |
+
},
|
| 151 |
+
"grasp_23": {
|
| 152 |
+
"confidence": 0.9491414427757263,
|
| 153 |
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"position": [
|
| 154 |
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0.010696734534576535,
|
| 155 |
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|
| 156 |
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|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.9979993614287561,
|
| 160 |
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"xyz": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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]
|
| 165 |
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}
|
| 166 |
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},
|
| 167 |
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"grasp_24": {
|
| 168 |
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"confidence": 0.9480583667755127,
|
| 169 |
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"position": [
|
| 170 |
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0.010900458553805947,
|
| 171 |
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|
| 172 |
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|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.8751944908085306,
|
| 176 |
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"xyz": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_25": {
|
| 184 |
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"confidence": 0.9479942917823792,
|
| 185 |
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"position": [
|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.08097768118943832,
|
| 192 |
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"xyz": [
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|
| 194 |
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|
| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_26": {
|
| 200 |
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"confidence": 0.9476648569107056,
|
| 201 |
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"position": [
|
| 202 |
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|
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|
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| 205 |
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],
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| 206 |
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"orientation": {
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| 207 |
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"w": 0.3605815981035653,
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| 208 |
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| 209 |
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| 212 |
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]
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| 213 |
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}
|
| 214 |
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},
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| 215 |
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"grasp_28": {
|
| 216 |
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"confidence": 0.9459971785545349,
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| 217 |
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| 218 |
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-0.0011524835135787725,
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| 219 |
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-0.08531134027725784,
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| 220 |
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-0.056523801758885384
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| 221 |
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],
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| 222 |
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"orientation": {
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| 223 |
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"w": 0.8724945635513136,
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| 225 |
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| 226 |
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| 227 |
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-0.09622669444131951
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| 228 |
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]
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| 229 |
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}
|
| 230 |
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},
|
| 231 |
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"grasp_30": {
|
| 232 |
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"confidence": 0.9455767869949341,
|
| 233 |
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"position": [
|
| 234 |
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-2.49429140239954e-05,
|
| 235 |
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-0.10507200110441772,
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| 236 |
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-0.017162783071398735
|
| 237 |
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],
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| 238 |
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"orientation": {
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| 239 |
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| 240 |
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| 241 |
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}
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| 246 |
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},
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| 247 |
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|
| 248 |
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"confidence": 0.9450933337211609,
|
| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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],
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| 254 |
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"orientation": {
|
| 255 |
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"w": 0.9012663962375365,
|
| 256 |
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"xyz": [
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| 257 |
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-0.4282760324861236,
|
| 258 |
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| 259 |
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|
| 260 |
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]
|
| 261 |
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}
|
| 262 |
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},
|
| 263 |
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"grasp_34": {
|
| 264 |
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"confidence": 0.9448237419128418,
|
| 265 |
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|
| 266 |
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|
| 267 |
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| 268 |
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|
| 269 |
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],
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| 270 |
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| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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| 276 |
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]
|
| 277 |
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}
|
| 278 |
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},
|
| 279 |
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"grasp_36": {
|
| 280 |
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"confidence": 0.9443042874336243,
|
| 281 |
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| 282 |
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| 283 |
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| 284 |
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|
| 285 |
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],
|
| 286 |
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"orientation": {
|
| 287 |
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"w": 0.7199538580200066,
|
| 288 |
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"xyz": [
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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]
|
| 293 |
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}
|
| 294 |
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}
|
| 295 |
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}
|
| 296 |
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},
|
| 297 |
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{
|
| 298 |
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"part_name": "floss strand",
|
| 299 |
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"mask_color": "Purple",
|
| 300 |
+
"graspable": false,
|
| 301 |
+
"grasp_scenarios": [],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"provide dental cleaning filament",
|
| 304 |
+
"dispense from the case",
|
| 305 |
+
"be pulled to a desired length for cutting"
|
| 306 |
+
],
|
| 307 |
+
"semantic_description": "Thin white floss thread arranged in loose curved runs across the interior cavity of the case, appearing as a fine flexible line rather than a visible wound spool.",
|
| 308 |
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"id": 5,
|
| 309 |
+
"grasp_group": {}
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
+
"part_name": "cutter",
|
| 313 |
+
"mask_color": "Brown",
|
| 314 |
+
"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
+
"functional_labels": [
|
| 317 |
+
"cut floss",
|
| 318 |
+
"anchor floss end",
|
| 319 |
+
"guide dispensing point"
|
| 320 |
+
],
|
| 321 |
+
"semantic_description": "Small metallic cutter piece with a reflective finish and hard sharp-edged rectangular form, mounted near the front interior rim of the case.",
|
| 322 |
+
"id": 11,
|
| 323 |
+
"grasp_group": {}
|
| 324 |
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},
|
| 325 |
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{
|
| 326 |
+
"part_name": "hinge tabs",
|
| 327 |
+
"mask_color": "Teal",
|
| 328 |
+
"graspable": false,
|
| 329 |
+
"grasp_scenarios": [],
|
| 330 |
+
"functional_labels": [
|
| 331 |
+
"connect lid to case body",
|
| 332 |
+
"enable lid rotation",
|
| 333 |
+
"maintain alignment during opening"
|
| 334 |
+
],
|
| 335 |
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"semantic_description": "Small white plastic hinge features with a matte hard surface, positioned at the rear joint between lid and case body and barely protruding from the connection area.",
|
| 336 |
+
"id": 10,
|
| 337 |
+
"grasp_group": {}
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"part_name": "latch tab",
|
| 341 |
+
"mask_color": "Pink",
|
| 342 |
+
"graspable": false,
|
| 343 |
+
"grasp_scenarios": [],
|
| 344 |
+
"functional_labels": [
|
| 345 |
+
"secure the lid closed",
|
| 346 |
+
"provide closure alignment",
|
| 347 |
+
"resist accidental opening"
|
| 348 |
+
],
|
| 349 |
+
"semantic_description": "Small white plastic latch feature with a smooth matte surface, located at the front opening edge of the case and shaped as a subtle tab for snap closure.",
|
| 350 |
+
"id": 8,
|
| 351 |
+
"grasp_group": {}
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"quality_check": {
|
| 355 |
+
"success": false,
|
| 356 |
+
"message": "Floss strand graspability is mislabeled; exposed floss can be pinched and pulled. Cutter function description is slightly overstated."
|
| 357 |
+
}
|
| 358 |
+
}
|
dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:23355a2be91e6b0faf6f3349b94079abd196552bb5f959392ec5667c59cdae0f
|
| 3 |
+
size 3787980
|
dataset/bathroom_supplies/personal_care/910abc76ae085ce085c2d7d1c64e6cfd/dental_floss_016.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|