Add asset bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52
Browse files
.gitattributes
CHANGED
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@@ -5742,3 +5742,4 @@ dataset/bathroom_supplies/personal_care/1202e6bea4c05ce98e0fcee6309ab148/afforda
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| 5742 |
dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5743 |
dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5742 |
dataset/bathroom_supplies/personal_care/130bfb6245af5722a0c4ffbbf12389ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5743 |
dataset/bathroom_supplies/personal_care/15b03811004656538927e871982673b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5744 |
dataset/bathroom_supplies/personal_care/15dc69d0342f5593a1f4d4422d493fe4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5745 |
+
dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,385 @@
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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": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the tube body to dispense toothpaste",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube body while twisting or removing the cap",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"enable squeezing for dispensing",
|
| 25 |
+
"support cap manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered white plastic tube body with a smooth slightly glossy surface, printed blue and red wavy graphics and small text, forming the main central portion above the cap.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.9794865846633911,
|
| 32 |
+
"position": [
|
| 33 |
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-0.03579531560535543,
|
| 34 |
+
0.1053063104627654,
|
| 35 |
+
-0.02418648125603795
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.10821597199207611,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.12253685874859338,
|
| 41 |
+
0.679170235996665,
|
| 42 |
+
-0.7155430191051214
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_19": {
|
| 47 |
+
"confidence": 0.9743980169296265,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.013450303551508114,
|
| 50 |
+
0.1070106754777953,
|
| 51 |
+
-0.021851519588381052
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.0560868469516194,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.05343295821416814,
|
| 57 |
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0.6867699006933938,
|
| 58 |
+
-0.7227352821587543
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"part_name": "cap",
|
| 66 |
+
"mask_color": "Green",
|
| 67 |
+
"graspable": true,
|
| 68 |
+
"grasp_scenarios": [
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp the cap to twist and open the toothpaste",
|
| 71 |
+
"confidence": 0.93
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "grasp the cap to reclose the tube",
|
| 75 |
+
"confidence": 0.92
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"scenario": "hold the cap end to orient or briefly lift the tube",
|
| 79 |
+
"confidence": 0.52
|
| 80 |
+
}
|
| 81 |
+
],
|
| 82 |
+
"functional_labels": [
|
| 83 |
+
"cover the opening",
|
| 84 |
+
"enable opening and closing",
|
| 85 |
+
"seal contents",
|
| 86 |
+
"provide standing base"
|
| 87 |
+
],
|
| 88 |
+
"semantic_description": "Small white plastic cap at the bottom end with a glossy smooth hard surface and rounded cylindrical shape, slightly wider than the tube and appearing like a screw cap.",
|
| 89 |
+
"id": 1,
|
| 90 |
+
"grasp_group": {
|
| 91 |
+
"grasp_20": {
|
| 92 |
+
"confidence": 0.9557701349258423,
|
| 93 |
+
"position": [
|
| 94 |
+
0.03494756718282588,
|
| 95 |
+
-0.10151680011767894,
|
| 96 |
+
-0.05383954429998994
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.7104862195816334,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.6831393477352636,
|
| 102 |
+
-0.12294036024394606,
|
| 103 |
+
0.11582586577930463
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_21": {
|
| 108 |
+
"confidence": 0.9442055225372314,
|
| 109 |
+
"position": [
|
| 110 |
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0.014500317658530548,
|
| 111 |
+
-0.10607087065000087,
|
| 112 |
+
-0.06023564422503114
|
| 113 |
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],
|
| 114 |
+
"orientation": {
|
| 115 |
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"w": 0.0738879738761664,
|
| 116 |
+
"xyz": [
|
| 117 |
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0.03228154623142872,
|
| 118 |
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-0.6991681750197601,
|
| 119 |
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-0.710395898164482
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_23": {
|
| 124 |
+
"confidence": 0.9403159022331238,
|
| 125 |
+
"position": [
|
| 126 |
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0.058875658112810925,
|
| 127 |
+
-0.09044835169333965,
|
| 128 |
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-0.05615345621481538
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
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"w": 0.6927459916562925,
|
| 132 |
+
"xyz": [
|
| 133 |
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-0.6618931605930147,
|
| 134 |
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-0.20213469051330446,
|
| 135 |
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0.20283491291052538
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_24": {
|
| 140 |
+
"confidence": 0.9401695132255554,
|
| 141 |
+
"position": [
|
| 142 |
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0.06630890493397601,
|
| 143 |
+
-0.08246625412721187,
|
| 144 |
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-0.07432457292452455
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
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"w": 0.26376550677560856,
|
| 148 |
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"xyz": [
|
| 149 |
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0.2069111708053701,
|
| 150 |
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-0.6348217034663849,
|
| 151 |
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-0.696144331040191
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
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"grasp_26": {
|
| 156 |
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"confidence": 0.9357478618621826,
|
| 157 |
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"position": [
|
| 158 |
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0.03031906162505038,
|
| 159 |
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-0.09560335625428706,
|
| 160 |
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-0.05466581741347909
|
| 161 |
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],
|
| 162 |
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"orientation": {
|
| 163 |
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"w": 0.12774957550048358,
|
| 164 |
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"xyz": [
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| 165 |
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0.10585258500939389,
|
| 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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},
|
| 171 |
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"grasp_27": {
|
| 172 |
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"confidence": 0.935717761516571,
|
| 173 |
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"position": [
|
| 174 |
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-0.0031048594682943076,
|
| 175 |
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-0.10883090842980891,
|
| 176 |
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-0.04997948417440057
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.7128362746560708,
|
| 180 |
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"xyz": [
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_28": {
|
| 188 |
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"confidence": 0.9350385665893555,
|
| 189 |
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"position": [
|
| 190 |
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0.0014334140869323164,
|
| 191 |
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|
| 192 |
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|
| 193 |
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],
|
| 194 |
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"orientation": {
|
| 195 |
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"w": 0.7156999819466394,
|
| 196 |
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"xyz": [
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|
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|
| 199 |
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|
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]
|
| 201 |
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|
| 202 |
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},
|
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},
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| 365 |
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{
|
| 366 |
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"part_name": "tube shoulder and nozzle end",
|
| 367 |
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"mask_color": "Blue",
|
| 368 |
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|
| 369 |
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|
| 370 |
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|
| 371 |
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|
| 372 |
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| 373 |
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| 374 |
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|
| 375 |
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],
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| 376 |
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"semantic_description": "Narrow white plastic top end with a smooth slightly glossy finish, forming the slanted shoulder and nozzle region opposite the cap, smaller and thinner than the main tube body.",
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| 377 |
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| 378 |
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| 379 |
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| 382 |
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"success": true,
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| 383 |
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"message": "YES"
|
| 384 |
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}
|
| 385 |
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}
|
dataset/bathroom_supplies/personal_care/161ec563327053e58ed6baccdb85fe52/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:70d917be94d45d26cfa81d7179070ec80f141900400394a7680c4b01b2bdb103
|
| 3 |
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size 3774748
|