Add asset bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f
Browse files
.gitattributes
CHANGED
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@@ -5727,3 +5727,4 @@ dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/afforda
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| 5727 |
dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5728 |
dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5729 |
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5727 |
dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5728 |
dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5729 |
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5730 |
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dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the tube body to pick up and move the toothpaste tube",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the tube body while unscrewing or screwing the cap",
|
| 14 |
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"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "squeeze the tube body to dispense contents",
|
| 18 |
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"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain toothpaste",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"squeeze to dispense contents",
|
| 25 |
+
"support printed labeling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic laminate tube body with a smooth slightly glossy surface, soft deformable feel, flattened tapered shape, and green printed branding and text on the front and back.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_6": {
|
| 31 |
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"confidence": 0.9885507225990295,
|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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},
|
| 46 |
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"grasp_10": {
|
| 47 |
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"confidence": 0.9873708486557007,
|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 55 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 71 |
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| 74 |
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| 76 |
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}
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| 77 |
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| 78 |
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"grasp_15": {
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"confidence": 0.9863618612289429,
|
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"position": [
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.02697326864827611,
|
| 87 |
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"xyz": [
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_16": {
|
| 95 |
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"confidence": 0.9857515692710876,
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| 96 |
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| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
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"w": 0.06525615776698974,
|
| 103 |
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"xyz": [
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| 106 |
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| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_17": {
|
| 111 |
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"confidence": 0.9855829477310181,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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],
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"orientation": {
|
| 118 |
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"w": 0.04734338533713808,
|
| 119 |
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"xyz": [
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_18": {
|
| 127 |
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"confidence": 0.9855284094810486,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.0901075554074422,
|
| 135 |
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"xyz": [
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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}
|
| 142 |
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}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "cap",
|
| 146 |
+
"mask_color": "Green",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "grasp the cap to unscrew or screw it during opening and closing",
|
| 151 |
+
"confidence": 0.95
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "pinch the cap to stabilize the nozzle end while orienting the tube",
|
| 155 |
+
"confidence": 0.72
|
| 156 |
+
}
|
| 157 |
+
],
|
| 158 |
+
"functional_labels": [
|
| 159 |
+
"cover the opening",
|
| 160 |
+
"seal the toothpaste",
|
| 161 |
+
"provide twisting interface",
|
| 162 |
+
"protect contents from contamination"
|
| 163 |
+
],
|
| 164 |
+
"semantic_description": "Small green plastic screw cap with a glossy hard finish, ribbed sides for traction, cylindrical shape, and placement at the dispensing end of the tube.",
|
| 165 |
+
"id": 1,
|
| 166 |
+
"grasp_group": {
|
| 167 |
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"grasp_20": {
|
| 168 |
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"confidence": 0.8140552639961243,
|
| 169 |
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"position": [
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| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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],
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| 174 |
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"orientation": {
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| 175 |
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"w": 0.9572815378482327,
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"xyz": [
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| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_24": {
|
| 184 |
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"confidence": 0.5867228507995605,
|
| 185 |
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"position": [
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|
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],
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"orientation": {
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| 192 |
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| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_29": {
|
| 200 |
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"confidence": 0.7432481646537781,
|
| 201 |
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"position": [
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| 202 |
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|
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|
| 204 |
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|
| 205 |
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],
|
| 206 |
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"orientation": {
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| 207 |
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}
|
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},
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"grasp_34": {
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| 216 |
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"confidence": 0.5365925431251526,
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"orientation": {
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| 223 |
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"w": 0.2819279134259097,
|
| 224 |
+
"xyz": [
|
| 225 |
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-0.8631065057007883,
|
| 226 |
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-0.04599638384806948,
|
| 227 |
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0.4164710603645697
|
| 228 |
+
]
|
| 229 |
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}
|
| 230 |
+
},
|
| 231 |
+
"grasp_37": {
|
| 232 |
+
"confidence": 0.8726354837417603,
|
| 233 |
+
"position": [
|
| 234 |
+
0.023591595207108185,
|
| 235 |
+
-0.17088076286017895,
|
| 236 |
+
0.013404601777438074
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.5951191092966719,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.5991505312902774,
|
| 242 |
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-0.4376644090144588,
|
| 243 |
+
-0.30870981793026714
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_38": {
|
| 248 |
+
"confidence": 0.8667356371879578,
|
| 249 |
+
"position": [
|
| 250 |
+
0.03131086422945373,
|
| 251 |
+
-0.16942973248660564,
|
| 252 |
+
0.00855193060124293
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.5558748880653086,
|
| 256 |
+
"xyz": [
|
| 257 |
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-0.502140675120347,
|
| 258 |
+
-0.5389623509423225,
|
| 259 |
+
-0.38519791727732255
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_39": {
|
| 264 |
+
"confidence": 0.8415641784667969,
|
| 265 |
+
"position": [
|
| 266 |
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0.045791559357894585,
|
| 267 |
+
-0.1601519864052534,
|
| 268 |
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-0.02239803079282865
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.39593521986998587,
|
| 272 |
+
"xyz": [
|
| 273 |
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-0.5111188583600462,
|
| 274 |
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0.35258043894239366,
|
| 275 |
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0.6765203976011498
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
}
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"part_name": "neck of toothpaste tube",
|
| 283 |
+
"mask_color": "Blue",
|
| 284 |
+
"graspable": false,
|
| 285 |
+
"grasp_scenarios": [],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"connect cap to tube",
|
| 288 |
+
"form dispensing outlet support",
|
| 289 |
+
"guide nozzle-end orientation"
|
| 290 |
+
],
|
| 291 |
+
"semantic_description": "Short white plastic neck section with a smooth glossy hard surface, narrow cylindrical form, and position between the main tube body and the green cap.",
|
| 292 |
+
"id": 2,
|
| 293 |
+
"grasp_group": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"part_name": "shoulder of toothpaste tube",
|
| 297 |
+
"mask_color": "Yellow",
|
| 298 |
+
"graspable": false,
|
| 299 |
+
"grasp_scenarios": [],
|
| 300 |
+
"functional_labels": [
|
| 301 |
+
"transition from body to neck",
|
| 302 |
+
"support closure end",
|
| 303 |
+
"help reinforce dispensing end"
|
| 304 |
+
],
|
| 305 |
+
"semantic_description": "Small rounded shoulder area of white plastic with a smooth glossy surface, ring-like tapered shape, and location where the broad tube body narrows toward the neck and cap.",
|
| 306 |
+
"id": 3,
|
| 307 |
+
"grasp_group": {}
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"part_name": "crimped tail seal",
|
| 311 |
+
"mask_color": "Orange",
|
| 312 |
+
"graspable": true,
|
| 313 |
+
"grasp_scenarios": [
|
| 314 |
+
{
|
| 315 |
+
"scenario": "grasp the sealed tail to orient or lift the lightweight tube",
|
| 316 |
+
"confidence": 0.43
|
| 317 |
+
},
|
| 318 |
+
{
|
| 319 |
+
"scenario": "pinch the tail while squeezing contents forward",
|
| 320 |
+
"confidence": 0.61
|
| 321 |
+
}
|
| 322 |
+
],
|
| 323 |
+
"functional_labels": [
|
| 324 |
+
"seal the filled tube end",
|
| 325 |
+
"provide end stop",
|
| 326 |
+
"help push contents toward the nozzle"
|
| 327 |
+
],
|
| 328 |
+
"semantic_description": "Thin white end seam at the tube tail, visible as a narrow flat crimped edge of plastic laminate with a smooth slightly glossy finish, located opposite the cap.",
|
| 329 |
+
"id": 4,
|
| 330 |
+
"grasp_group": {}
|
| 331 |
+
}
|
| 332 |
+
],
|
| 333 |
+
"quality_check": {
|
| 334 |
+
"success": true,
|
| 335 |
+
"message": "YES"
|
| 336 |
+
}
|
| 337 |
+
}
|
dataset/bathroom_supplies/personal_care/0914eb10d20d527d8f9e5b771e36f28f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:decbd7fd0a042bb844d6f3b4f29a05b48436cbaaa49536da674a10c6490fc88e
|
| 3 |
+
size 3784148
|