Add asset bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/affordance_annot.json +444 -0
- dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/comb_027.urdf +1 -0
.gitattributes
CHANGED
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@@ -7970,3 +7970,4 @@ dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/afforda
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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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/6c46380643ad5fe3a92fc027ad9a756c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,444 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "comb handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the comb",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while using the teeth to comb hair",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to orient the comb for placement or storage",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip area",
|
| 23 |
+
"support comb manipulation",
|
| 24 |
+
"provide reach and leverage",
|
| 25 |
+
"connect teeth section to handhold"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Elongated white plastic handle with a matte-to-satin finish and hard smooth surface, forming the larger curved rear portion of the comb with small printed branding near the center.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.970613956451416,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
+
-0.10168031533248723,
|
| 35 |
+
-0.003999939868663205
|
| 36 |
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],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5495113677627277,
|
| 39 |
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"xyz": [
|
| 40 |
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-0.4370880736501031,
|
| 41 |
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-0.5374949944417202,
|
| 42 |
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-0.4670015026983037
|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_5": {
|
| 47 |
+
"confidence": 0.9705967903137207,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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-0.10280713369138539,
|
| 51 |
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-0.0046566936471208464
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5173608062854246,
|
| 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 |
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}
|
| 61 |
+
},
|
| 62 |
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"grasp_7": {
|
| 63 |
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"confidence": 0.9701877236366272,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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0.09591074357740581,
|
| 67 |
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-0.00040320165498997085
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5026706364925477,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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-0.4830098872758358
|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_8": {
|
| 79 |
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"confidence": 0.9701747298240662,
|
| 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": 0.49809160787468726,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
+
"grasp_10": {
|
| 95 |
+
"confidence": 0.9697460532188416,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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-0.0022274234615906607
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4918706647430667,
|
| 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_13": {
|
| 111 |
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"confidence": 0.9688708782196045,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5152448432434332,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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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_14": {
|
| 127 |
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"confidence": 0.9684576988220215,
|
| 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": {
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| 134 |
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|
| 135 |
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"xyz": [
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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_15": {
|
| 143 |
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"confidence": 0.9684060215950012,
|
| 144 |
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"position": [
|
| 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": 0.5068607012302779,
|
| 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_16": {
|
| 159 |
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"confidence": 0.9682062864303589,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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|
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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| 167 |
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"xyz": [
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],
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"semantic_description": "Small round hole near the end of the white plastic handle, appearing as a clean smooth opening used for hanging or tethering the comb.",
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"success": true,
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"message": "YES"
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}
|
dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/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 sha256:4bdc6ed90cc589cfde021d8fc36cc7d0f66ab7c3169edf3cb14ad3bdaa0e24f0
|
| 3 |
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size 3781528
|
dataset/bathroom_supplies/personal_care/6c46380643ad5fe3a92fc027ad9a756c/comb_027.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>
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|
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|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 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>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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