Add asset bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/affordance_annot.json +639 -0
- dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.urdf +1 -0
.gitattributes
CHANGED
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@@ -7966,4 +7966,4 @@ dataset/bathroom_supplies/personal_care/5c1a6b57e4685acb9699191409c90744/afforda
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| 7966 |
dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
-
dataset/bathroom_supplies/personal_care/
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| 7966 |
dataset/bathroom_supplies/personal_care/5c767e4bd6d05764925eff8ac9bbe168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7967 |
dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7968 |
dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
+
dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,639 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "floss container body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the container body to pick up and move the dental floss case",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while opening the lid or pulling floss",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the case by side grasping the cylindrical body",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the floss spool",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support dispensing operations",
|
| 25 |
+
"protect internal floss",
|
| 26 |
+
"stabilize the container on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Cylindrical light pink to white plastic body with a smooth semi-gloss hard surface, medium size, forming most of the container and showing printed logo and text on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.8678087592124939,
|
| 33 |
+
"position": [
|
| 34 |
+
0.02836837526410818,
|
| 35 |
+
0.11205245266319253,
|
| 36 |
+
-0.02503227343549952
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.08137868233178076,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.09049642317657243,
|
| 42 |
+
-0.6889832895843823,
|
| 43 |
+
0.7144857830129815
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.861539363861084,
|
| 49 |
+
"position": [
|
| 50 |
+
0.003745222929865122,
|
| 51 |
+
0.11286829868913628,
|
| 52 |
+
-0.02639429917326197
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.021472546656583685,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.0008263332495472605,
|
| 58 |
+
-0.7077776003398166,
|
| 59 |
+
0.7061084303211884
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.8584597706794739,
|
| 65 |
+
"position": [
|
| 66 |
+
0.018620966002345085,
|
| 67 |
+
0.11251775632263161,
|
| 68 |
+
-0.03146479179849848
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.06341330722160482,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.05709236896645663,
|
| 74 |
+
-0.6986174991197273,
|
| 75 |
+
0.7103891917792066
|
| 76 |
+
]
|
| 77 |
+
}
|
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dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/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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size 3780068
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dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.urdf
CHANGED
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@@ -57,6 +57,7 @@
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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<quality>
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<PartSegChecker>YES</PartSegChecker>
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