Add asset bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/affordance_annot.json +355 -0
- dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/toothpaste_032.urdf +1 -0
.gitattributes
CHANGED
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@@ -5781,3 +5781,4 @@ dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/afforda
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| 5781 |
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5782 |
dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5781 |
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5782 |
dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5784 |
+
dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/affordance_annot.json
ADDED
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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 at the middle to pick up and move the toothpaste",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the tube body to dispense toothpaste while aiming the nozzle",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube body while the cap is twisted on or off",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"deform for squeezing",
|
| 25 |
+
"support dispensing",
|
| 26 |
+
"display product branding"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered white plastic tube body with a smooth slightly glossy surface, soft squeezable feel, blue gradient top area, and printed Chinese branding on the front above the cap.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9812601804733276,
|
| 33 |
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"position": [
|
| 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": 0.5587891623672588,
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| 40 |
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"xyz": [
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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": 0.9805810451507568,
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| 49 |
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"position": [
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"orientation": {
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},
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"grasp_3": {
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| 64 |
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"confidence": 0.9801791310310364,
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"position": [
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"orientation": {
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"grasp_4": {
|
| 80 |
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"confidence": 0.979229211807251,
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| 81 |
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"position": [
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"orientation": {
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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_5": {
|
| 96 |
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"confidence": 0.9790977835655212,
|
| 97 |
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"position": [
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| 101 |
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],
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"orientation": {
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"grasp_6": {
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"confidence": 0.9784132242202759,
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"grasp_7": {
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"grasp_12": {
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| 192 |
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"success": true,
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dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3779212
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dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/toothpaste_032.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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|
|
|
| 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>
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| 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>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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