Add asset bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf
Browse files
.gitattributes
CHANGED
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@@ -5820,4 +5820,4 @@ dataset/bathroom_supplies/personal_care/aeb5ee4bf1125857be0ea8791788d63d/afforda
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5823 |
-
dataset/bathroom_supplies/personal_care/
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| 5820 |
dataset/bathroom_supplies/personal_care/b03f4b0995d7546f955b2072987bdfe5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5821 |
dataset/bathroom_supplies/personal_care/b5477f9e0f1b598d8a5246d70235a52e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5822 |
dataset/bathroom_supplies/personal_care/b197c1d5f1745ef388eda8f73a21d514/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5823 |
+
dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,592 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flip-top cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to pick up or reposition the toothpaste tube from the bottom end",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cap to stabilize the tube while opening or closing the dispenser",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the cap to rotate and orient the tube for dispensing",
|
| 18 |
+
"confidence": 0.73
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"close the dispenser opening",
|
| 23 |
+
"protect the nozzle",
|
| 24 |
+
"provide a stable standing base",
|
| 25 |
+
"assist orientation during dispensing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small white plastic cap with a glossy smooth hard surface, cylindrical and slightly stepped, attached at the bottom end of the tube and forming the flat base.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.954705536365509,
|
| 32 |
+
"position": [
|
| 33 |
+
0.021190810075495392,
|
| 34 |
+
-0.10373700093623484,
|
| 35 |
+
-0.0703230602084659
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.08809107743608253,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.06032377728577076,
|
| 41 |
+
-0.7038334683175077,
|
| 42 |
+
-0.7022958442467635
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9526966214179993,
|
| 48 |
+
"position": [
|
| 49 |
+
0.02871269272873178,
|
| 50 |
+
-0.10303316693898523,
|
| 51 |
+
-0.0762478289543651
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7224652212405507,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.676608883806043,
|
| 57 |
+
-0.09362138960131139,
|
| 58 |
+
0.107142231924215
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9472827911376953,
|
| 64 |
+
"position": [
|
| 65 |
+
0.03905381361255422,
|
| 66 |
+
-0.09698749017115915,
|
| 67 |
+
-0.083011845999863
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.703778359565559,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6826836478703887,
|
| 73 |
+
-0.1465716406917036,
|
| 74 |
+
0.13098019576459607
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9427866339683533,
|
| 80 |
+
"position": [
|
| 81 |
+
0.017463562136981636,
|
| 82 |
+
-0.1020392371356138,
|
| 83 |
+
-0.07911683147540316
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7280575184584033,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.680107388087373,
|
| 89 |
+
-0.058791415705044314,
|
| 90 |
+
0.06268779725401341
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.940041184425354,
|
| 96 |
+
"position": [
|
| 97 |
+
0.02734890120336786,
|
| 98 |
+
-0.09856252800818766,
|
| 99 |
+
-0.0857855406939052
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7536809126755528,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.644677043186068,
|
| 105 |
+
-0.091055982493919,
|
| 106 |
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| 516 |
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"xyz": [
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| 517 |
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| 518 |
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|
| 519 |
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0.07410381867381755
|
| 520 |
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]
|
| 521 |
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}
|
| 522 |
+
},
|
| 523 |
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"grasp_36": {
|
| 524 |
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"confidence": 0.9726687073707581,
|
| 525 |
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"position": [
|
| 526 |
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0.043133956438396126,
|
| 527 |
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-0.09968699198361719,
|
| 528 |
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-0.02513176848879084
|
| 529 |
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],
|
| 530 |
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"orientation": {
|
| 531 |
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"w": 0.1291520475207622,
|
| 532 |
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"xyz": [
|
| 533 |
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0.17289755264694068,
|
| 534 |
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-0.6818644008694797,
|
| 535 |
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|
| 536 |
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]
|
| 537 |
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}
|
| 538 |
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},
|
| 539 |
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"grasp_38": {
|
| 540 |
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"confidence": 0.9724271893501282,
|
| 541 |
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"position": [
|
| 542 |
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|
| 543 |
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0.10427552033070242,
|
| 544 |
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-0.043277579301502556
|
| 545 |
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],
|
| 546 |
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"orientation": {
|
| 547 |
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"w": 0.0630995927069415,
|
| 548 |
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"xyz": [
|
| 549 |
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|
| 550 |
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0.684719311434469,
|
| 551 |
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-0.7224698218985642
|
| 552 |
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]
|
| 553 |
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}
|
| 554 |
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},
|
| 555 |
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"grasp_39": {
|
| 556 |
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"confidence": 0.9723715782165527,
|
| 557 |
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"position": [
|
| 558 |
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-0.021960011625196785,
|
| 559 |
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0.10974953640106833,
|
| 560 |
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0.005379618203733116
|
| 561 |
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],
|
| 562 |
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"orientation": {
|
| 563 |
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"w": 0.08973130649885488,
|
| 564 |
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"xyz": [
|
| 565 |
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-0.07552945730509852,
|
| 566 |
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0.6682370020070171,
|
| 567 |
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-0.7346447460248254
|
| 568 |
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]
|
| 569 |
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}
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
{
|
| 574 |
+
"part_name": "sealed shoulder end",
|
| 575 |
+
"mask_color": "Blue",
|
| 576 |
+
"graspable": false,
|
| 577 |
+
"grasp_scenarios": [],
|
| 578 |
+
"functional_labels": [
|
| 579 |
+
"seal the filled tube",
|
| 580 |
+
"define top orientation",
|
| 581 |
+
"close the package end"
|
| 582 |
+
],
|
| 583 |
+
"semantic_description": "Thin white crimped plastic strip with a matte-to-semi-gloss smooth edge, running along the narrow top end of the tube as the sealed tail.",
|
| 584 |
+
"id": 2,
|
| 585 |
+
"grasp_group": {}
|
| 586 |
+
}
|
| 587 |
+
],
|
| 588 |
+
"quality_check": {
|
| 589 |
+
"success": true,
|
| 590 |
+
"message": "YES"
|
| 591 |
+
}
|
| 592 |
+
}
|
dataset/bathroom_supplies/personal_care/b84b2ef291945ca282e824b11a4bc5bf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a37286591fbe1b1c7ff21feceeb4e7ccd13dcd99adc86e85f223984cf75e0b3
|
| 3 |
+
size 3782360
|