Add asset bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/affordance_annot.json +427 -0
- dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/dental_floss_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -5829,3 +5829,4 @@ dataset/bathroom_supplies/personal_care/bb0ff85514f85f209192d2927da8e8b6/afforda
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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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| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5831 |
dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/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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| 5830 |
dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5831 |
dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5832 |
+
dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,427 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "hinged lid and top dispensing frame",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid tab or front edge to open or close the container",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the top frame to steady the dispenser while extracting a floss pick",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the container opening",
|
| 19 |
+
"provide hinged access to stored floss picks",
|
| 20 |
+
"form the top retaining/dispensing frame"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "White plastic top assembly with a smooth slightly glossy finish, including a rounded rectangular hinged lid with a small front tab and the surrounding top frame around the opening.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
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"grasp_3": {
|
| 26 |
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"confidence": 0.9736299514770508,
|
| 27 |
+
"position": [
|
| 28 |
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-0.055359842255711555,
|
| 29 |
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0.08264575822977349,
|
| 30 |
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|
| 31 |
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],
|
| 32 |
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"orientation": {
|
| 33 |
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"w": 0.29095702807820634,
|
| 34 |
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"xyz": [
|
| 35 |
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|
| 36 |
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-0.004320247053742565,
|
| 37 |
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|
| 38 |
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]
|
| 39 |
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}
|
| 40 |
+
},
|
| 41 |
+
"grasp_7": {
|
| 42 |
+
"confidence": 0.9720566868782043,
|
| 43 |
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"position": [
|
| 44 |
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-0.023145781829953194,
|
| 45 |
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-0.1279333166894503,
|
| 46 |
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|
| 47 |
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],
|
| 48 |
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"orientation": {
|
| 49 |
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"w": 0.04206519701125137,
|
| 50 |
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"xyz": [
|
| 51 |
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-0.10007018191241573,
|
| 52 |
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|
| 53 |
+
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|
| 54 |
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]
|
| 55 |
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}
|
| 56 |
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},
|
| 57 |
+
"grasp_8": {
|
| 58 |
+
"confidence": 0.9719828963279724,
|
| 59 |
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"position": [
|
| 60 |
+
-0.03469249606132507,
|
| 61 |
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-0.11056404636474326,
|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"orientation": {
|
| 65 |
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"w": 0.06503489926552841,
|
| 66 |
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"xyz": [
|
| 67 |
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-0.15546974883030315,
|
| 68 |
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0.8746567575823762,
|
| 69 |
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|
| 70 |
+
]
|
| 71 |
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}
|
| 72 |
+
},
|
| 73 |
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"grasp_9": {
|
| 74 |
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"confidence": 0.9717423915863037,
|
| 75 |
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"position": [
|
| 76 |
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-0.03850868158042431,
|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"orientation": {
|
| 81 |
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"w": 0.05291285759492582,
|
| 82 |
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"xyz": [
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_11": {
|
| 90 |
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"confidence": 0.9716623425483704,
|
| 91 |
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"position": [
|
| 92 |
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-0.049812665209174156,
|
| 93 |
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0.08165720029501244,
|
| 94 |
+
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|
| 95 |
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],
|
| 96 |
+
"orientation": {
|
| 97 |
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"w": 0.2936723646010933,
|
| 98 |
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"xyz": [
|
| 99 |
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|
| 100 |
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-0.008931443069222667,
|
| 101 |
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|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_13": {
|
| 106 |
+
"confidence": 0.9709416031837463,
|
| 107 |
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"position": [
|
| 108 |
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-0.04875394143164158,
|
| 109 |
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-0.11289752350421622,
|
| 110 |
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|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
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"w": 0.10172095416885815,
|
| 114 |
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"xyz": [
|
| 115 |
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-0.058052071247843486,
|
| 116 |
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0.8751086921042465,
|
| 117 |
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0.4695397549839719
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_15": {
|
| 122 |
+
"confidence": 0.970333993434906,
|
| 123 |
+
"position": [
|
| 124 |
+
-0.03732048720121384,
|
| 125 |
+
0.08474136813310906,
|
| 126 |
+
0.1520301979035139
|
| 127 |
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],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.29556228760399594,
|
| 130 |
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"xyz": [
|
| 131 |
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0.95525993451299,
|
| 132 |
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-0.007965254946686595,
|
| 133 |
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0.007612251583163578
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_18": {
|
| 138 |
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"confidence": 0.9696303009986877,
|
| 139 |
+
"position": [
|
| 140 |
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-0.04677499644458294,
|
| 141 |
+
0.08059051557211205,
|
| 142 |
+
0.1482067685574293
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
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"w": 0.30268633441787895,
|
| 146 |
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"xyz": [
|
| 147 |
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0.9515432452033837,
|
| 148 |
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-0.0027129423214631854,
|
| 149 |
+
0.054213240158117425
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"part_name": "container body",
|
| 157 |
+
"mask_color": "Blue",
|
| 158 |
+
"graspable": true,
|
| 159 |
+
"grasp_scenarios": [
|
| 160 |
+
{
|
| 161 |
+
"scenario": "grasp the container body to pick up and move the dispenser",
|
| 162 |
+
"confidence": 0.94
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"scenario": "hold the body to stabilize it while opening the lid or removing a floss pick",
|
| 166 |
+
"confidence": 0.91
|
| 167 |
+
}
|
| 168 |
+
],
|
| 169 |
+
"functional_labels": [
|
| 170 |
+
"contain floss picks",
|
| 171 |
+
"support the hinged top",
|
| 172 |
+
"provide the main grasp surface",
|
| 173 |
+
"rest stably on a flat surface"
|
| 174 |
+
],
|
| 175 |
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},
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{
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"part_name": "stored floss picks",
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{
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"scenario": "pinch an exposed floss pick to pull it out of the dispenser",
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}
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],
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"provide individual dental floss pick tools",
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"semantic_description": "Multiple thin white plastic floss picks visible inside the open container, arranged in a neat row beneath the top frame.",
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],
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"success": false,
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"message": "Mask color/part mapping is wrong: floss picks are blue, not pink; red mask also includes picks, so top part description is inaccurate."
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}
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}
|
dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:bd6dfa2e585fed0347c6cc6569a675961312d00285e2d3305e573f1a890d448b
|
| 3 |
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size 3783312
|
dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/dental_floss_025.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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