Add asset bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/affordance/affordance_annot.json +720 -0
- dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/toothpaste_001.urdf +1 -0
.gitattributes
CHANGED
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@@ -5876,3 +5876,4 @@ dataset/bathroom_supplies/personal_care/f0260dd83c2c5b7b8c2f3da95dd01b70/afforda
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| 5876 |
dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5877 |
dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5878 |
dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5876 |
dataset/bathroom_supplies/personal_care/f24138481484510e86491d7a228fd375/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5877 |
dataset/bathroom_supplies/personal_care/f3f13ebcfc505041b1f761e59f560d25/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5878 |
dataset/bathroom_supplies/personal_care/f5fb41269700532a9ea4294297e942b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5879 |
+
dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,720 @@
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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": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while unscrewing or replacing the cap",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the tube body to dispense toothpaste",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"allow squeezing for dispensing",
|
| 25 |
+
"support cap attachment"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered white plastic tube body with a mostly matte smooth surface, slightly flexible feel, and a crimped sealed top, forming the main central portion of the toothpaste container.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9905140399932861,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10317560704424977,
|
| 34 |
+
0.01920103863812983,
|
| 35 |
+
-0.024851042195223272
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.548673298995333,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5540283482588322,
|
| 41 |
+
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dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/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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size 3782928
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dataset/bathroom_supplies/personal_care/f6755c3c51b85b19b39aac7af56d97b7/toothpaste_001.urdf
CHANGED
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@@ -52,6 +52,7 @@
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|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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<quality>
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