Add asset bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac
Browse files
.gitattributes
CHANGED
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@@ -5826,3 +5826,4 @@ dataset/bathroom_supplies/personal_care/b8afb7461dbe5658911b12415fd3bfc4/afforda
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| 5826 |
dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5827 |
dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5828 |
dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5826 |
dataset/bathroom_supplies/personal_care/ba6d2bb538cf547a85d0dd3a9ea7561f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5827 |
dataset/bathroom_supplies/personal_care/ba77340e584e5b18816dbb06f36545f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5828 |
dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5829 |
+
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,433 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the mouthwash cup",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cup body to stabilize it while placing or repositioning it",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the rim and body to empty or tilt the cup",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"form the main vessel",
|
| 24 |
+
"provide side support",
|
| 25 |
+
"support pouring orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white or very light gray plastic cup body with a hard smooth mostly matte surface, faceted polygonal sides, an open top cavity, and the main volume of the vessel.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9405323266983032,
|
| 32 |
+
"position": [
|
| 33 |
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-0.013786600204184651,
|
| 34 |
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0.045415471657179296,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.15704272447995193,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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-0.2685233227073426,
|
| 42 |
+
-0.06448449915295573
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9401384592056274,
|
| 48 |
+
"position": [
|
| 49 |
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-0.04153625410981476,
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.22665431100880373,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9395233988761902,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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-0.015087349922396243,
|
| 67 |
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|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.09618369294820377,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
+
"confidence": 0.9394335746765137,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.1723542206360836,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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-0.19930473359381523,
|
| 90 |
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-0.04206326392418604
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9384962320327759,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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-0.07112478150520474,
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.10780557124569398,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
+
"confidence": 0.9370964169502258,
|
| 112 |
+
"position": [
|
| 113 |
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|
| 114 |
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-0.02891002653632313,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.11643990759574557,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.38030384892789365,
|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9358847141265869,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.021953088894674885,
|
| 135 |
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"xyz": [
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9348827004432678,
|
| 144 |
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"position": [
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.058080820662637526,
|
| 151 |
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"xyz": [
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| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9340363144874573,
|
| 160 |
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"position": [
|
| 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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"orientation": {
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| 166 |
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"w": 0.01057052390938786,
|
| 167 |
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"xyz": [
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| 168 |
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| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9332387447357178,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
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},
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{
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},
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{
|
| 414 |
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|
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|
| 418 |
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"semantic_description": "Thin white or very light gray upper rim edge with a hard smooth matte finish, tracing the cup opening as a narrow border around the top.",
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| 430 |
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"success": true,
|
| 431 |
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"message": "YES"
|
| 432 |
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}
|
| 433 |
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}
|
dataset/bathroom_supplies/personal_care/bb39e338ff35574193a7a216485840ac/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:cbf761f7c6c121e17a6aca866ab1a1b2de1794df6cc3b38e997ece8894bdb893
|
| 3 |
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size 3778900
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