Add asset bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/affordance/affordance_annot.json +579 -0
- dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -5845,3 +5845,4 @@ dataset/bathroom_supplies/personal_care/cf83fac239db516bbbf3a192a1a264cc/afforda
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5846 |
dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5847 |
dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5845 |
dataset/bathroom_supplies/personal_care/cfce140a178d553288769125aa72beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5846 |
dataset/bathroom_supplies/personal_care/cfcfb90c41d959fba0e01190fead875c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5847 |
dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5848 |
+
dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,579 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle of the toothpaste tube body to pick up and move the tube",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the flexible tube body to help dispense toothpaste through the opening",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the tube body to stabilize the package while opening or closing the cap",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"deform for dispensing",
|
| 25 |
+
"support printed branding",
|
| 26 |
+
"connect sealed end to cap end"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tapered flexible plastic toothpaste tube body with a mostly white smooth glossy surface and a blue printed band at the sealed top end, with red and blue branding and text on the front, forming the main body above the cap.",
|
| 29 |
+
"id": 3,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9887218475341797,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.10721764655318111,
|
| 35 |
+
-0.004165430902503431,
|
| 36 |
+
-0.0317641522269696
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.517907242118112,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5005088060849333,
|
| 42 |
+
0.49234299477117127,
|
| 43 |
+
-0.48873448731678454
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9880466461181641,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.1042107412358746,
|
| 51 |
+
0.007139855180867016,
|
| 52 |
+
-0.02063763956539333
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.536169703933482,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5161492373464686,
|
| 58 |
+
0.47716297414782916,
|
| 59 |
+
0.46736228931412455
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9880279302597046,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.10366973222699016,
|
| 67 |
+
-0.01068000530358404,
|
| 68 |
+
-0.018453824101015925
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5266286406466827,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5208732387460281,
|
| 74 |
+
0.48060310400068273,
|
| 75 |
+
-0.4694400924865275
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_23": {
|
| 80 |
+
"confidence": 0.9862122535705566,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.10254723520483822,
|
| 83 |
+
0.009614630253054202,
|
| 84 |
+
-0.029348532436415553
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5526668542752605,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5103276840465935,
|
| 90 |
+
0.4650163502942548,
|
| 91 |
+
0.466781316078674
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9858469367027283,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.10462438256945461,
|
| 99 |
+
-0.011779598309658468,
|
| 100 |
+
-0.024419207824394107
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.49377963738914854,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.4735738197291659,
|
| 106 |
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| 572 |
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| 573 |
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| 574 |
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| 575 |
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"quality_check": {
|
| 576 |
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"success": false,
|
| 577 |
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"message": "Tube body description color/branding mismatches images; body is predominantly blue and white, not mostly white with blue band."
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| 578 |
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}
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| 579 |
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}
|
dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:192f69fca142fa6b3391b03cb47d6765c7b819e1d84b98fbddaca45d32c4ae87
|
| 3 |
+
size 3784016
|
dataset/bathroom_supplies/personal_care/d1799d8458f75a258abe409539fb767d/toothpaste_004.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|