Add asset bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/affordance_annot.json +437 -0
- dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/dental_floss_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -5749,3 +5749,4 @@ dataset/bathroom_supplies/personal_care/18c80a211e455a84ba7e3555a7f62c2c/afforda
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| 5749 |
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5750 |
dataset/bathroom_supplies/personal_care/1949cea20dd356b6a41973e8187fe7ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5751 |
dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5749 |
dataset/bathroom_supplies/personal_care/190dc7c8250f58f8a0c406b3ef8763a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5750 |
dataset/bathroom_supplies/personal_care/1949cea20dd356b6a41973e8187fe7ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5751 |
dataset/bathroom_supplies/personal_care/167cd5b883c055699434cfe62a8ff8a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5752 |
+
dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,437 @@
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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 front edge of the lid to open or close the case",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid lightly while repositioning the open case",
|
| 14 |
+
"confidence": 0.5
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the storage compartment",
|
| 19 |
+
"protect the contents",
|
| 20 |
+
"enable opening and closing"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Light blue plastic lid with a smooth matte finish, rounded rectangular shape, hinged at the back, with a small raised latch feature near the front edge.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_3": {
|
| 26 |
+
"confidence": 0.9553399682044983,
|
| 27 |
+
"position": [
|
| 28 |
+
0.00025617540813982487,
|
| 29 |
+
0.10610037547303364,
|
| 30 |
+
0.006789475912228227
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.7261324595616504,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.6871786197450421,
|
| 36 |
+
-0.019729474011571768,
|
| 37 |
+
0.011311215296059284
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_13": {
|
| 42 |
+
"confidence": 0.9477171897888184,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.004222587333060801,
|
| 45 |
+
-0.10466014343546703,
|
| 46 |
+
0.015097181778401136
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.6921574491711386,
|
| 50 |
+
"xyz": [
|
| 51 |
+
-0.6986346697091753,
|
| 52 |
+
-0.1189300128299905,
|
| 53 |
+
-0.13668692653473696
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_19": {
|
| 58 |
+
"confidence": 0.9447875618934631,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.02011732431128621,
|
| 61 |
+
0.0385355080361478,
|
| 62 |
+
0.11798955919221044
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.034731986075532344,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.04386061166965714,
|
| 68 |
+
0.9800838396649324,
|
| 69 |
+
-0.19054029262824151
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "base of case",
|
| 77 |
+
"mask_color": "Orange",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
+
"scenario": "grasp the case body to pick up and move the container",
|
| 82 |
+
"confidence": 0.96
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "hold the base steady while opening the lid or removing the stored item",
|
| 86 |
+
"confidence": 0.91
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"functional_labels": [
|
| 90 |
+
"contain stored items",
|
| 91 |
+
"support the lid and interior insert",
|
| 92 |
+
"provide the main grasp surface",
|
| 93 |
+
"protect contents during transport"
|
| 94 |
+
],
|
| 95 |
+
"semantic_description": "Light blue plastic case body with a smooth matte finish and rounded rectangular box shape, forming the lower half of the object. White printed branding is visible on the front face.",
|
| 96 |
+
"id": 4,
|
| 97 |
+
"grasp_group": {
|
| 98 |
+
"grasp_37": {
|
| 99 |
+
"confidence": 0.9675464034080505,
|
| 100 |
+
"position": [
|
| 101 |
+
-0.007320646662265062,
|
| 102 |
+
-0.10964680212782696,
|
| 103 |
+
0.000664976891130209
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.05928336546064919,
|
| 107 |
+
"xyz": [
|
| 108 |
+
-0.039792509055827895,
|
| 109 |
+
0.7060661769859794,
|
| 110 |
+
0.7045371477211863
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"grasp_38": {
|
| 115 |
+
"confidence": 0.9675272107124329,
|
| 116 |
+
"position": [
|
| 117 |
+
-0.0015826418530195951,
|
| 118 |
+
0.10468563687754795,
|
| 119 |
+
-0.005374463740736246
|
| 120 |
+
],
|
| 121 |
+
"orientation": {
|
| 122 |
+
"w": 0.07567609299419056,
|
| 123 |
+
"xyz": [
|
| 124 |
+
0.06971059705429629,
|
| 125 |
+
0.6839411059131456,
|
| 126 |
+
-0.7222451974570493
|
| 127 |
+
]
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"grasp_40": {
|
| 131 |
+
"confidence": 0.9663106203079224,
|
| 132 |
+
"position": [
|
| 133 |
+
-0.0775320609100163,
|
| 134 |
+
0.006080712366383523,
|
| 135 |
+
-0.062095682602375746
|
| 136 |
+
],
|
| 137 |
+
"orientation": {
|
| 138 |
+
"w": 0.6187788147062446,
|
| 139 |
+
"xyz": [
|
| 140 |
+
-0.30185998025173205,
|
| 141 |
+
0.30617592628073054,
|
| 142 |
+
-0.6574569438064336
|
| 143 |
+
]
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"grasp_42": {
|
| 147 |
+
"confidence": 0.9650455117225647,
|
| 148 |
+
"position": [
|
| 149 |
+
-0.0006392690120264888,
|
| 150 |
+
-0.10578344512032345,
|
| 151 |
+
-0.0011614770628511906
|
| 152 |
+
],
|
| 153 |
+
"orientation": {
|
| 154 |
+
"w": 0.7167773560119911,
|
| 155 |
+
"xyz": [
|
| 156 |
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-0.696276864946375,
|
| 157 |
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-0.027891144303661464,
|
| 158 |
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-0.02551143505055333
|
| 159 |
+
]
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"grasp_43": {
|
| 163 |
+
"confidence": 0.9646619558334351,
|
| 164 |
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"position": [
|
| 165 |
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-0.0752783720381558,
|
| 166 |
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0.0039447114686481655,
|
| 167 |
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-0.06102222530171275
|
| 168 |
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],
|
| 169 |
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"orientation": {
|
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],
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],
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"semantic_description": "Small translucent light-blue circular ring-like plastic piece with a smooth glossy appearance, seated in the round recess inside the case.",
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"id": 6,
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},
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{
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"part_name": "small strap-like accessory and latch/hinge tabs",
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{
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{
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"scenario": "use the front yellow latch feature as a contact point when opening the lid",
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}
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],
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"form hinge or connector tabs between lid and base"
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],
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"semantic_description": "Yellow-masked parts include a small light-colored strap-like accessory with a ring detail stored in the left recess, plus small latch and hinge tab features on the case. These are not a standalone floss tool with a visible floss strand.",
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"id": 3,
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],
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| 433 |
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"quality_check": {
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| 434 |
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"success": false,
|
| 435 |
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"message": "Yellow part merges separate features; identity/functions and grasp scenarios are inconsistent with mask segmentation."
|
| 436 |
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}
|
| 437 |
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}
|
dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:e7ea654008a02770a07a71686649543d9df583424842edee6cbb360fbc65cfd3
|
| 3 |
+
size 3785320
|
dataset/bathroom_supplies/personal_care/1be79bd4dce85ab59e67d4008ad5fe00/dental_floss_011.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>NO: {"summary":"Case is over-segmented into surfaces and tiny hardware; not functional-part accurate.","merge_groups":[{"colors":["Orange","Purple"],"target_part":"main case body","reason":"same storage body split into exterior and interior surfaces"},{"colors":["Red","Yellow"],"target_part":"lid assembly","reason":"lid split from small latch/hinge details"}]}</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>NO: {"summary":"Case is over-segmented into surfaces and tiny hardware; not functional-part accurate.","merge_groups":[{"colors":["Orange","Purple"],"target_part":"main case body","reason":"same storage body split into exterior and interior surfaces"},{"colors":["Red","Yellow"],"target_part":"lid assembly","reason":"lid split from small latch/hinge details"}]}</PartSegChecker>
|