Add asset bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/affordance_annot.json +1342 -0
- dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf +1 -0
.gitattributes
CHANGED
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@@ -5801,3 +5801,4 @@ dataset/bathroom_supplies/personal_care/5353f96e68615fbe8ab85bc57e2dad0f/afforda
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| 5801 |
dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5802 |
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5801 |
dataset/bathroom_supplies/personal_care/543a66d50c225d32b3774093f0e9c09e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5802 |
dataset/bathroom_supplies/personal_care/5470b23615525f3488081ba8f46c7e0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5803 |
dataset/bathroom_supplies/personal_care/54712a3528085067b67e2bd4ee5b08e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5804 |
+
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1342 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp and twist the top cap to open the container",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top cap to help reorient the bottle",
|
| 14 |
+
"confidence": 0.52
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"close the top opening",
|
| 19 |
+
"protect the dispensing opening",
|
| 20 |
+
"provide a twist-open closure",
|
| 21 |
+
"seal the container"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A wide rounded light pink plastic cap with a glossy smooth hard surface, located at the top and slightly wider than the neck, with a small circular top detail.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8839406967163086,
|
| 28 |
+
"position": [
|
| 29 |
+
0.06435942451935261,
|
| 30 |
+
-0.062924863794251,
|
| 31 |
+
0.1509732147678733
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4267827464688584,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.8143270132151085,
|
| 37 |
+
-0.34974418403112717,
|
| 38 |
+
0.18001946728356735
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.8811225891113281,
|
| 44 |
+
"position": [
|
| 45 |
+
0.1020169312832877,
|
| 46 |
+
0.008945066458181827,
|
| 47 |
+
0.10283264424651861
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4478926012289776,
|
| 51 |
+
"xyz": [
|
| 52 |
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-0.5092234390341505,
|
| 53 |
+
-0.5460459893594104,
|
| 54 |
+
0.4918510795017896
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.8768644332885742,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.08598705579061061,
|
| 62 |
+
0.03305312802513072,
|
| 63 |
+
0.14128827955573797
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4161478456855572,
|
| 67 |
+
"xyz": [
|
| 68 |
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0.7111854353755771,
|
| 69 |
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0.4933604457920533,
|
| 70 |
+
0.2786246894458333
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.8754204511642456,
|
| 76 |
+
"position": [
|
| 77 |
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|
| 78 |
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-0.017652940028710873,
|
| 79 |
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0.1019415995106101
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.5046868154253392,
|
| 83 |
+
"xyz": [
|
| 84 |
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-0.5771661181593499,
|
| 85 |
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-0.4663620601232863,
|
| 86 |
+
0.44122207476764036
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.8715307116508484,
|
| 92 |
+
"position": [
|
| 93 |
+
0.07633875857573003,
|
| 94 |
+
-0.04741061294953397,
|
| 95 |
+
0.15280528273433447
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.40378724366173074,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.7738866678339951,
|
| 101 |
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-0.4334941690472942,
|
| 102 |
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0.22391536929575345
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.8677588105201721,
|
| 108 |
+
"position": [
|
| 109 |
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-0.08878159720916301,
|
| 110 |
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0.03953655620534846,
|
| 111 |
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0.1409886172041297
|
| 112 |
+
],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.28557011775846375,
|
| 115 |
+
"xyz": [
|
| 116 |
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-0.44874066944482494,
|
| 117 |
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0.7342550186204384,
|
| 118 |
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-0.42184249081893926
|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
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"grasp_6": {
|
| 123 |
+
"confidence": 0.8674372434616089,
|
| 124 |
+
"position": [
|
| 125 |
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-0.07889583904761821,
|
| 126 |
+
0.02956653942783305,
|
| 127 |
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0.14979228284209967
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.2568240517566328,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.5126481590403746,
|
| 133 |
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0.7116376523088124,
|
| 134 |
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-0.4059619727120057
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_7": {
|
| 139 |
+
"confidence": 0.8662774562835693,
|
| 140 |
+
"position": [
|
| 141 |
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-0.060251595568843186,
|
| 142 |
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-0.004147458845181973,
|
| 143 |
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0.17735430505126715
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.19355181063265797,
|
| 147 |
+
"xyz": [
|
| 148 |
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0.6292839563221029,
|
| 149 |
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0.7256640716501694,
|
| 150 |
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0.19987759762544577
|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
+
},
|
| 154 |
+
"grasp_8": {
|
| 155 |
+
"confidence": 0.8653298616409302,
|
| 156 |
+
"position": [
|
| 157 |
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-0.0768904184224084,
|
| 158 |
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0.004143926757024019,
|
| 159 |
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0.15528480615466833
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.30452141346621264,
|
| 163 |
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"xyz": [
|
| 164 |
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-0.5898510866407545,
|
| 165 |
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0.6783855182226661,
|
| 166 |
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_9": {
|
| 171 |
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"confidence": 0.8651902079582214,
|
| 172 |
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"position": [
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|
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 3785332
|
dataset/bathroom_supplies/personal_care/54b0429c2d33547e9f8e90ace69bb99d/toothpaste_020.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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|
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|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
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