Add asset bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901
Browse files
.gitattributes
CHANGED
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@@ -7967,4 +7967,4 @@ dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/afforda
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7970 |
-
dataset/bathroom_supplies/personal_care/
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7970 |
+
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,248 @@
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| 1 |
+
{
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| 2 |
+
"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "cup rim",
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| 5 |
+
"mask_color": "Blue",
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| 6 |
+
"graspable": true,
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| 7 |
+
"grasp_scenarios": [
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| 8 |
+
{
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| 9 |
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"scenario": "pinch the rim to pick up the lightweight cup from above",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.64
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the drinking edge",
|
| 19 |
+
"stiffen the cup opening",
|
| 20 |
+
"support lip contact",
|
| 21 |
+
"provide a top grasp point"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thin rolled light-blue plastic rim with a smooth slightly glossy hard surface, encircling the top opening as a narrow raised edge.",
|
| 24 |
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"id": 2,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_25": {
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| 27 |
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"confidence": 0.8641229271888733,
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| 28 |
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"position": [
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],
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"orientation": {
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"w": 0.37792934715746357,
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"xyz": [
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]
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| 40 |
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}
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| 41 |
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},
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| 42 |
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"grasp_26": {
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| 43 |
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"confidence": 0.8453299403190613,
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| 44 |
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"position": [
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| 46 |
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],
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"orientation": {
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"w": 0.5409123901455569,
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"xyz": [
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]
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},
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"grasp_28": {
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| 59 |
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"confidence": 0.7667919993400574,
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| 60 |
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"position": [
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],
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"orientation": {
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}
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| 73 |
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},
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"grasp_29": {
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"position": [
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"orientation": {
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"xyz": [
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]
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| 88 |
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}
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},
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"grasp_35": {
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"confidence": 0.9007793068885803,
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"position": [
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"orientation": {
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"grasp_36": {
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"confidence": 0.8927882313728333,
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"position": [
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],
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"orientation": {
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"w": 0.32714906459096077,
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]
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}
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},
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"grasp_38": {
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| 123 |
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"confidence": 0.8253808617591858,
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"position": [
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],
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| 129 |
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"orientation": {
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"w": 0.2795744965068449,
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"xyz": [
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| 135 |
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]
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| 136 |
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}
|
| 137 |
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}
|
| 138 |
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}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"part_name": "cup body",
|
| 142 |
+
"mask_color": "Green",
|
| 143 |
+
"graspable": true,
|
| 144 |
+
"grasp_scenarios": [
|
| 145 |
+
{
|
| 146 |
+
"scenario": "grasp the sidewall to pick up and move the cup",
|
| 147 |
+
"confidence": 0.95
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"scenario": "hold the body to steady the cup while filling or emptying",
|
| 151 |
+
"confidence": 0.89
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"functional_labels": [
|
| 155 |
+
"contain liquid",
|
| 156 |
+
"main grasp surface",
|
| 157 |
+
"support the cup structure",
|
| 158 |
+
"provide sidewall for handling"
|
| 159 |
+
],
|
| 160 |
+
"semantic_description": "Tapered cylindrical cup body made of thin plastic with a smooth semi-gloss hard surface, white with pale and medium blue geometric patches over most of the exterior.",
|
| 161 |
+
"id": 1,
|
| 162 |
+
"grasp_group": {
|
| 163 |
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"grasp_1": {
|
| 164 |
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"confidence": 0.4977690577507019,
|
| 165 |
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"position": [
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| 166 |
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],
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"orientation": {
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]
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}
|
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},
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"grasp_12": {
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| 180 |
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"confidence": 0.4337388277053833,
|
| 181 |
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"position": [
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],
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"orientation": {
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"xyz": [
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]
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}
|
| 194 |
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},
|
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"grasp_16": {
|
| 196 |
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"confidence": 0.4152970314025879,
|
| 197 |
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"position": [
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| 198 |
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|
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],
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"orientation": {
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"w": 0.7406333361292924,
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|
| 208 |
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]
|
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}
|
| 210 |
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},
|
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"grasp_19": {
|
| 212 |
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"confidence": 0.40985047817230225,
|
| 213 |
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"position": [
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],
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"orientation": {
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]
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| 225 |
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|
| 226 |
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}
|
| 227 |
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}
|
| 228 |
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},
|
| 229 |
+
{
|
| 230 |
+
"part_name": "interior basin",
|
| 231 |
+
"mask_color": "Red",
|
| 232 |
+
"graspable": false,
|
| 233 |
+
"grasp_scenarios": [],
|
| 234 |
+
"functional_labels": [
|
| 235 |
+
"hold mouthwash",
|
| 236 |
+
"provide inner drinking cavity",
|
| 237 |
+
"guide liquid toward the opening"
|
| 238 |
+
],
|
| 239 |
+
"semantic_description": "Open inner cavity of the cup with smooth hard plastic walls, mostly white with faint blue marbling, occupying the top interior where liquid is contained.",
|
| 240 |
+
"id": 0,
|
| 241 |
+
"grasp_group": {}
|
| 242 |
+
}
|
| 243 |
+
],
|
| 244 |
+
"quality_check": {
|
| 245 |
+
"success": true,
|
| 246 |
+
"message": "YES"
|
| 247 |
+
}
|
| 248 |
+
}
|
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
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|
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|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:47b5fb66f9832ae96935076cb441991cc23e0b71d2316ffc8ba5c93da08b202d
|
| 3 |
+
size 3784652
|