Add asset bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84
Browse files
.gitattributes
CHANGED
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@@ -5776,3 +5776,4 @@ dataset/bathroom_supplies/personal_care/3a49f513a3e9589cb02d32a267a5c056/afforda
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| 5776 |
dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5777 |
dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5778 |
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5776 |
dataset/bathroom_supplies/personal_care/3c4e7e1599635206ac6835eeb660f202/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5777 |
dataset/bathroom_supplies/personal_care/3c9ef8fa19345573ae45c65a8fd83f37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5778 |
dataset/bathroom_supplies/personal_care/3d07e2d8c1b95b3ba9aaa32ad3ec559d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5779 |
+
dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,452 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "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",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while unscrewing or screwing the cap",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the tube body to dispense toothpaste",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"squeeze to dispense contents",
|
| 25 |
+
"support labeling and identification",
|
| 26 |
+
"connect to the cap end"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered light blue plastic tube body with a smooth slightly glossy surface, soft deformable feel, printed white text, and a broad upper section narrowing toward the cap at the bottom.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_2": {
|
| 32 |
+
"confidence": 0.9819679856300354,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.03787264791026246,
|
| 35 |
+
0.09721342631382868,
|
| 36 |
+
-0.025370081653818488
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.11952290317900029,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.15761692851427409,
|
| 42 |
+
0.66353707400285,
|
| 43 |
+
-0.7215190440211029
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_7": {
|
| 48 |
+
"confidence": 0.9806217551231384,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.024035261987592094,
|
| 51 |
+
0.1043241933803074,
|
| 52 |
+
-0.029297007014974952
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.07879230742121159,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.10113717529547471,
|
| 58 |
+
0.6271701020482965,
|
| 59 |
+
-0.7682582294783589
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_10": {
|
| 64 |
+
"confidence": 0.9794125556945801,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.053027635483886115,
|
| 67 |
+
0.08457633265061304,
|
| 68 |
+
-0.05355371884070337
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.1811067502303219,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.20566781474524642,
|
| 74 |
+
0.5766305919454329,
|
| 75 |
+
-0.7696741228803179
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_13": {
|
| 80 |
+
"confidence": 0.9781010150909424,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.025375677316333167,
|
| 83 |
+
0.10186010011238977,
|
| 84 |
+
-0.03417411423288286
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.07246165040256423,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.09751101843506361,
|
| 90 |
+
0.6762477954250083,
|
| 91 |
+
-0.7265877990219146
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_14": {
|
| 96 |
+
"confidence": 0.977334201335907,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.033868605314637534,
|
| 99 |
+
0.09853746899170801,
|
| 100 |
+
-0.027716915821656585
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.09508962970648101,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.15713259576183944,
|
| 106 |
+
0.7032065521609776,
|
| 107 |
+
-0.68685359041742
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_17": {
|
| 112 |
+
"confidence": 0.9756709337234497,
|
| 113 |
+
"position": [
|
| 114 |
+
0.01869592625007499,
|
| 115 |
+
0.1056662590126507,
|
| 116 |
+
-0.02124143927358091
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.08694262666796243,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.05199121379707274,
|
| 122 |
+
-0.6875318692345022,
|
| 123 |
+
0.7190534209242686
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "cap",
|
| 131 |
+
"mask_color": "Green",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "grasp the cap to twist it open or closed",
|
| 136 |
+
"confidence": 0.95
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "pinch the cap to stabilize the tube during handling",
|
| 140 |
+
"confidence": 0.72
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"scenario": "grasp the cap end to reorient the toothpaste tube",
|
| 144 |
+
"confidence": 0.64
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"functional_labels": [
|
| 148 |
+
"cover the opening",
|
| 149 |
+
"seal contents",
|
| 150 |
+
"provide a twisting interface",
|
| 151 |
+
"stand the tube upright",
|
| 152 |
+
"protect the nozzle area"
|
| 153 |
+
],
|
| 154 |
+
"semantic_description": "Small cylindrical light blue plastic cap at the bottom end, with a slightly glossy hard surface, fine ribbed sides for traction, and a flat circular base.",
|
| 155 |
+
"id": 1,
|
| 156 |
+
"grasp_group": {
|
| 157 |
+
"grasp_20": {
|
| 158 |
+
"confidence": 0.9639657139778137,
|
| 159 |
+
"position": [
|
| 160 |
+
0.02003048728511203,
|
| 161 |
+
-0.09959095559315756,
|
| 162 |
+
-0.06838716170750558
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.7366782007874128,
|
| 166 |
+
"xyz": [
|
| 167 |
+
-0.6673207827848631,
|
| 168 |
+
-0.0741908651864287,
|
| 169 |
+
0.0805227723746948
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
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dataset/bathroom_supplies/personal_care/3d9cb678d4295794b71c5a8137633b84/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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