Add asset bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/affordance_annot.json +305 -0
- dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_floss_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -8000,3 +8000,4 @@ dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/afforda
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| 8000 |
dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8001 |
dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8002 |
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8000 |
dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8001 |
dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8002 |
dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8003 |
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dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "small plastic tool",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch and lift the small tool out of the case",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the narrow middle section to manipulate the tool during use",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reposition the tool back into the fitted case interior",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"removable accessory/tool",
|
| 23 |
+
"handheld manipulation piece",
|
| 24 |
+
"stored insert within the case"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Small white plastic tool with a smooth slightly matte finish, an oval finger-loop on one end and an open wrench-like head on the other, resting inside the case.",
|
| 27 |
+
"id": 7,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_0": {
|
| 30 |
+
"confidence": 0.6822457909584045,
|
| 31 |
+
"position": [
|
| 32 |
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|
| 33 |
+
-0.11588422080967575,
|
| 34 |
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-0.02519066585227847
|
| 35 |
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],
|
| 36 |
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"orientation": {
|
| 37 |
+
"w": 0.5737785637647581,
|
| 38 |
+
"xyz": [
|
| 39 |
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|
| 40 |
+
-0.43112276566661334,
|
| 41 |
+
-0.5210459102293817
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"part_name": "storage case",
|
| 49 |
+
"mask_color": "Pink",
|
| 50 |
+
"graspable": true,
|
| 51 |
+
"grasp_scenarios": [
|
| 52 |
+
{
|
| 53 |
+
"scenario": "grasp the case body to pick up and carry the object",
|
| 54 |
+
"confidence": 0.95
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"scenario": "hold the case while opening or closing the clamshell halves",
|
| 58 |
+
"confidence": 0.89
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"scenario": "stabilize the case while removing or replacing the internal tool",
|
| 62 |
+
"confidence": 0.86
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"protect the internal tool",
|
| 67 |
+
"contain the tool",
|
| 68 |
+
"support opening and closing",
|
| 69 |
+
"provide portable storage"
|
| 70 |
+
],
|
| 71 |
+
"semantic_description": "Rounded rectangular gray clamshell case with a smooth matte hard exterior, zipper around the edge, and a fitted interior that holds the small white tool.",
|
| 72 |
+
"id": 8,
|
| 73 |
+
"grasp_group": {
|
| 74 |
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"grasp_1": {
|
| 75 |
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"confidence": 0.9499666094779968,
|
| 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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],
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| 81 |
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"orientation": {
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| 82 |
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"w": 0.008747660052966426,
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| 83 |
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"xyz": [
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| 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_2": {
|
| 91 |
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"confidence": 0.9491143822669983,
|
| 92 |
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"position": [
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| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.005768071610723108,
|
| 99 |
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"xyz": [
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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_3": {
|
| 107 |
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"confidence": 0.9452201724052429,
|
| 108 |
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"position": [
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| 112 |
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| 119 |
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]
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| 120 |
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}
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| 121 |
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},
|
| 122 |
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"grasp_5": {
|
| 123 |
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"confidence": 0.9417617321014404,
|
| 124 |
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"position": [
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"orientation": {
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| 134 |
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| 135 |
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"grasp_6": {
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"confidence": 0.9404258728027344,
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"grasp_12": {
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|
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/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 sha256:704355a3fcd419c47698df183e4597658e98bc62844fd7835de4af90f497bdd5
|
| 3 |
+
size 3779384
|
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_floss_012.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>
|