Add asset bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/affordance_annot.json +373 -0
- dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -5721,4 +5721,4 @@ dataset/bathroom_supplies/bath_products/fff8812c7c01587ab652ec83c3ee6c59/afforda
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| 5721 |
dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5722 |
dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5723 |
dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5724 |
-
dataset/bathroom_supplies/personal_care/
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| 5721 |
dataset/bathroom_supplies/personal_care/0168451db85558feac59f480b5172f1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5722 |
dataset/bathroom_supplies/personal_care/01cf27d33e255bfdb1fc7b918af65c43/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5723 |
dataset/bathroom_supplies/personal_care/047e49a463e35751bee8e3abb584f882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5724 |
+
dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the cup",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cup body to stabilize it while filling or emptying",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the upper sidewall just below the rim to reorient the cup upright",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support standing",
|
| 25 |
+
"form drinking vessel structure",
|
| 26 |
+
"stabilize contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "The main cup is a small yellow-orange plastic body with a glossy smooth hard surface, slightly tapered cylindrical shape, thick rolled rim, and several shallow circumferential ribs around the sidewall.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9766589999198914,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.11594060739307191,
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| 40 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9736704230308533,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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"w": 0.19429559836601942,
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
|
| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9730781316757202,
|
| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.006956715292771493,
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
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| 77 |
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}
|
| 78 |
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},
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| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9730435013771057,
|
| 81 |
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"position": [
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| 84 |
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| 85 |
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],
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| 86 |
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"orientation": {
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| 87 |
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"w": 0.16096315090154678,
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"xyz": [
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| 91 |
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| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9727020859718323,
|
| 97 |
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"position": [
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| 98 |
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| 99 |
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| 101 |
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],
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| 102 |
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"orientation": {
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| 103 |
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"w": 0.1490696946322112,
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"xyz": [
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| 107 |
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| 108 |
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]
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| 110 |
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},
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| 111 |
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"grasp_5": {
|
| 112 |
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"confidence": 0.9720582365989685,
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| 113 |
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"position": [
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| 117 |
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"orientation": {
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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"grasp_6": {
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| 128 |
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"confidence": 0.9720410108566284,
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| 129 |
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| 133 |
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"orientation": {
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| 140 |
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]
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| 141 |
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| 142 |
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},
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| 143 |
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"grasp_7": {
|
| 144 |
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"confidence": 0.9711814522743225,
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"position": [
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"orientation": {
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"grasp_8": {
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"grasp_9": {
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| 176 |
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"confidence": 0.9705529808998108,
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"position": [
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"grasp_10": {
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| 192 |
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|
dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/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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oid sha256:e2c17749520119663c04acb4945e6cd196229476e6f4ad93ea9f9097a36c678d
|
| 3 |
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size 3779284
|
dataset/bathroom_supplies/personal_care/04a7f8eb8967595aa58126e04ac0c8d2/mouthwash_cup_009.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
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