Add asset bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f
Browse files
.gitattributes
CHANGED
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@@ -7971,4 +7971,4 @@ dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/afforda
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7972 |
dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7973 |
dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7974 |
-
dataset/bathroom_supplies/personal_care/
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7972 |
dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7973 |
dataset/bathroom_supplies/personal_care/7048d93ab0f953aa859679b27d0f1cd1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7974 |
+
dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottom base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"support upright placement",
|
| 10 |
+
"stabilize the cup on flat surfaces",
|
| 11 |
+
"provide a resting surface"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Flat circular black base area on the underside, likely hard plastic with a matte to satin finish, smooth texture, and small size at the very bottom of the cup.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "cup body",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the sidewall to pick up the mouthwash cup",
|
| 24 |
+
"confidence": 0.95
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the lower body to reposition or place the cup",
|
| 28 |
+
"confidence": 0.91
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "stabilize the cup body while filling or emptying it",
|
| 32 |
+
"confidence": 0.82
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"contain liquid",
|
| 37 |
+
"provide main grasp surface",
|
| 38 |
+
"support drinking or rinsing",
|
| 39 |
+
"form the cup structure"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "Tall tapered white cup body made of hard plastic with a smooth matte finish, slightly narrowed near the lower section and forming nearly all of the cup's side surface.",
|
| 42 |
+
"id": 1,
|
| 43 |
+
"grasp_group": {
|
| 44 |
+
"grasp_0": {
|
| 45 |
+
"confidence": 0.9719523787498474,
|
| 46 |
+
"position": [
|
| 47 |
+
0.09018015628680587,
|
| 48 |
+
-0.061539168120361865,
|
| 49 |
+
-0.009908432548400015
|
| 50 |
+
],
|
| 51 |
+
"orientation": {
|
| 52 |
+
"w": 0.6182400390525374,
|
| 53 |
+
"xyz": [
|
| 54 |
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-0.6244981194879433,
|
| 55 |
+
-0.3471691808725452,
|
| 56 |
+
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|
| 57 |
+
]
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"grasp_1": {
|
| 61 |
+
"confidence": 0.9696362018585205,
|
| 62 |
+
"position": [
|
| 63 |
+
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|
| 64 |
+
-0.05241668096277863,
|
| 65 |
+
-0.023720303957816213
|
| 66 |
+
],
|
| 67 |
+
"orientation": {
|
| 68 |
+
"w": 0.6146517030342709,
|
| 69 |
+
"xyz": [
|
| 70 |
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|
| 71 |
+
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|
| 72 |
+
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|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
"grasp_2": {
|
| 77 |
+
"confidence": 0.9683524966239929,
|
| 78 |
+
"position": [
|
| 79 |
+
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|
| 80 |
+
-0.05629541224334389,
|
| 81 |
+
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|
| 82 |
+
],
|
| 83 |
+
"orientation": {
|
| 84 |
+
"w": 0.38061447288932027,
|
| 85 |
+
"xyz": [
|
| 86 |
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|
| 87 |
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|
| 88 |
+
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|
| 89 |
+
]
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"grasp_3": {
|
| 93 |
+
"confidence": 0.9669419527053833,
|
| 94 |
+
"position": [
|
| 95 |
+
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|
| 96 |
+
-0.0531610386678949,
|
| 97 |
+
-0.01137866306817159
|
| 98 |
+
],
|
| 99 |
+
"orientation": {
|
| 100 |
+
"w": 0.6108484072296418,
|
| 101 |
+
"xyz": [
|
| 102 |
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|
| 103 |
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-0.37408777967148743,
|
| 104 |
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|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"grasp_4": {
|
| 109 |
+
"confidence": 0.9663184881210327,
|
| 110 |
+
"position": [
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
+
],
|
| 115 |
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"orientation": {
|
| 116 |
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"w": 0.5840004690361831,
|
| 117 |
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"xyz": [
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|
| 120 |
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|
| 121 |
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]
|
| 122 |
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}
|
| 123 |
+
},
|
| 124 |
+
"grasp_5": {
|
| 125 |
+
"confidence": 0.9662838578224182,
|
| 126 |
+
"position": [
|
| 127 |
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0.08000446623191237,
|
| 128 |
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-0.07346594205591828,
|
| 129 |
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-0.027216721733566374
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
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"w": 0.31587571894801364,
|
| 133 |
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"xyz": [
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"grasp_6": {
|
| 141 |
+
"confidence": 0.9651581048965454,
|
| 142 |
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"position": [
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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],
|
| 147 |
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"orientation": {
|
| 148 |
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"w": 0.5462108082206059,
|
| 149 |
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"xyz": [
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| 150 |
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|
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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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"grasp_7": {
|
| 157 |
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"confidence": 0.9649804830551147,
|
| 158 |
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"position": [
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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],
|
| 163 |
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"orientation": {
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"w": 0.41474480942941455,
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"xyz": [
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|
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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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"grasp_8": {
|
| 173 |
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"confidence": 0.9643581509590149,
|
| 174 |
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"position": [
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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],
|
| 179 |
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"orientation": {
|
| 180 |
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"w": 0.6306358655674956,
|
| 181 |
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"xyz": [
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|
| 185 |
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]
|
| 186 |
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}
|
| 187 |
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},
|
| 188 |
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"grasp_9": {
|
| 189 |
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"confidence": 0.9631672501564026,
|
| 190 |
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"position": [
|
| 191 |
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|
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|
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|
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],
|
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"orientation": {
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|
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"xyz": [
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|
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| 369 |
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| 370 |
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| 371 |
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| 372 |
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"semantic_description": "Wide circular top opening revealing a grayish interior, with a hard smooth plastic surface and clean rounded rim at the top of the cup.",
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| 378 |
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| 383 |
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"success": true,
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| 384 |
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"message": "YES"
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| 385 |
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| 386 |
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}
|
dataset/bathroom_supplies/personal_care/7193edcf17305685abd50ae02f54803f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:bde8221428a75c98d6dcc1aae84ea450819b98b8313fd93a83c5b57b258ed364
|
| 3 |
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size 3780676
|