Add asset bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/affordance_annot.json +451 -0
- dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/toothpaste_038.urdf +1 -0
.gitattributes
CHANGED
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@@ -5841,3 +5841,4 @@ dataset/bathroom_supplies/personal_care/ca1c8e2dc84959168bbd0c6308ebe1e1/afforda
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| 5841 |
dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5842 |
dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5843 |
dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5841 |
dataset/bathroom_supplies/personal_care/cc8d41c5a62c55989bb5d8a6a0c77a91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5842 |
dataset/bathroom_supplies/personal_care/ce6e362a51535f3f964c06561044256a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5843 |
dataset/bathroom_supplies/personal_care/cef74bfb35ad5381838ef037a6aede16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5844 |
+
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,451 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "toothpaste tube body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tube body to pick up and move the toothpaste tube",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while manipulating the cap end",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the tube body to dispense toothpaste after uncapping",
|
| 18 |
+
"confidence": 0.97
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"squeeze to dispense contents",
|
| 25 |
+
"support threaded neck and cap attachment",
|
| 26 |
+
"provide product labeling area"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered white plastic tube body with a smooth slightly flexible surface, blue gradient printing near the crimped end and a printed front label, forming the main container below the neck.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9830207824707031,
|
| 33 |
+
"position": [
|
| 34 |
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-0.015282037667930126,
|
| 35 |
+
0.10371013564872555,
|
| 36 |
+
-0.01481903876629076
|
| 37 |
+
],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.519795322138689,
|
| 40 |
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"xyz": [
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_4": {
|
| 48 |
+
"confidence": 0.9822711944580078,
|
| 49 |
+
"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.414485973026187,
|
| 56 |
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"xyz": [
|
| 57 |
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|
| 58 |
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-0.5496739541721443,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_5": {
|
| 64 |
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"confidence": 0.9817093014717102,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.439424600826959,
|
| 72 |
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"xyz": [
|
| 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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},
|
| 79 |
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"grasp_10": {
|
| 80 |
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"confidence": 0.9802426695823669,
|
| 81 |
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"position": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.4672056587625093,
|
| 88 |
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"xyz": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_12": {
|
| 96 |
+
"confidence": 0.9800449013710022,
|
| 97 |
+
"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
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"w": 0.4775664692700283,
|
| 104 |
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"xyz": [
|
| 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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},
|
| 111 |
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"grasp_13": {
|
| 112 |
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"confidence": 0.980016827583313,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.46105662898604804,
|
| 120 |
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"xyz": [
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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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},
|
| 127 |
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"grasp_17": {
|
| 128 |
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"confidence": 0.978704571723938,
|
| 129 |
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"position": [
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| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
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| 135 |
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| 136 |
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"xyz": [
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| 137 |
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|
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_18": {
|
| 144 |
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"confidence": 0.9786962270736694,
|
| 145 |
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"position": [
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.4875566601942479,
|
| 152 |
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"xyz": [
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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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},
|
| 159 |
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"grasp_19": {
|
| 160 |
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"confidence": 0.9782959818840027,
|
| 161 |
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"position": [
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| 162 |
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|
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|
| 164 |
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|
| 165 |
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dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:994bb03069e16db1c04310764911ab810c38a2a2de718c296f2e8d6b5d00fee6
|
| 3 |
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size 3779740
|
dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/toothpaste_038.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>
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|
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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>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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