Add asset bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/affordance_annot.json +594 -0
- dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.urdf +1 -0
.gitattributes
CHANGED
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@@ -8012,3 +8012,4 @@ dataset/bathroom_supplies/personal_care/8a3294f405e855b9bd27e7ed4c143b1b/afforda
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| 8012 |
dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8013 |
dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8014 |
dataset/bathroom_supplies/personal_care/8d57d0e7b5b050c184e84deaa405e54b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8012 |
dataset/bathroom_supplies/personal_care/8a72c93d7e265eba8706fad2cf249ca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8013 |
dataset/bathroom_supplies/personal_care/8d226e73332a52b68d740b0d190c9cda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8014 |
dataset/bathroom_supplies/personal_care/8d57d0e7b5b050c184e84deaa405e54b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8015 |
+
dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,594 @@
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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 tube body to pick up and move the tube",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while twisting the cap open or closed",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the flexible tube body to help dispense contents",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support squeezing for dispensing",
|
| 25 |
+
"provide structural enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Main tapered tube body made of flexible plastic, mostly white with a smooth to slightly glossy finish. One face has printed graphics and dark characters, and the body forms the large upper portion above the cap assembly.",
|
| 28 |
+
"id": 3,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9872503280639648,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.09811089860158972,
|
| 34 |
+
0.025744760525412858,
|
| 35 |
+
-0.03354384261183441
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5871702197285361,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5471505156778538,
|
| 41 |
+
0.4059762202604543,
|
| 42 |
+
0.43708209164919626
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9869634509086609,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.09662996904808097,
|
| 50 |
+
0.031116664526052773,
|
| 51 |
+
-0.01836642879061401
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5806297087438351,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5824715278767151,
|
| 57 |
+
0.40768883490895746,
|
| 58 |
+
0.3967188858972957
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9866940975189209,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0810717411513906,
|
| 66 |
+
0.05460694443900138,
|
| 67 |
+
-0.017914336873218417
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6437675816344569,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6214153732493743,
|
| 73 |
+
0.31898974752255416,
|
| 74 |
+
0.31249284104017655
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9862052798271179,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.044444575178204104,
|
| 82 |
+
0.08853915345389396,
|
| 83 |
+
-0.01920572924427688
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6934104569329441,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6823701420338676,
|
| 89 |
+
0.1641343255010309,
|
| 90 |
+
0.1631344557996452
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.986190915107727,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.1006865494127851,
|
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dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:70aac305cbed0996a46b3f8b3a097d3cdc6e0f31bb6f307ab5bd4919a25eb17b
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| 3 |
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size 3780984
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dataset/bathroom_supplies/personal_care/8d6e9d0bf0a75c1088b4a0d68d1944e7/toothpaste_033.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>
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| 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>
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| 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>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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