Add asset bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/affordance_annot.json +298 -0
- dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf +1 -0
.gitattributes
CHANGED
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@@ -5551,3 +5551,4 @@ dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/mesh/screwdriver_011
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| 5551 |
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/screwdriver_011.usd filter=lfs diff=lfs merge=lfs -text
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| 5552 |
dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/hex_key_027.usd filter=lfs diff=lfs merge=lfs -text
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| 5553 |
dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/mesh/hex_key_027.glb filter=lfs diff=lfs merge=lfs -text
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| 5551 |
dataset/tools/repair_tools/9b164aaf256d5d10a42e2d87953316bc/screwdriver_011.usd filter=lfs diff=lfs merge=lfs -text
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| 5552 |
dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/hex_key_027.usd filter=lfs diff=lfs merge=lfs -text
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| 5553 |
dataset/tools/repair_tools/9ea92b9609b65771a672f8819864e729/mesh/hex_key_027.glb filter=lfs diff=lfs merge=lfs -text
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| 5554 |
+
dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "dish bowl",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rim and sidewall to pick up and relocate the soap dish",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bowl body to stabilize the soap dish during placement",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"hold a bar of soap",
|
| 19 |
+
"provide the main support surface",
|
| 20 |
+
"catch water drips",
|
| 21 |
+
"keep soap elevated above the counter"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large flower-shaped brown wooden bowl with a matte to satin finish, hard smooth surface, carved radial grain lines, and a shallow concave form making up the upper main body.",
|
| 24 |
+
"id": 1,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9580912590026855,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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| 32 |
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],
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| 33 |
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"orientation": {
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"xyz": [
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| 39 |
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| 40 |
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}
|
| 41 |
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},
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| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.956764817237854,
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| 44 |
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"position": [
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| 48 |
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| 49 |
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"orientation": {
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| 57 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9486991167068481,
|
| 236 |
+
"position": [
|
| 237 |
+
0.1248134812922217,
|
| 238 |
+
-0.02565887465607375,
|
| 239 |
+
0.06410850974498317
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.4706276729255338,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.12764770091673938,
|
| 245 |
+
-0.8711919941115066,
|
| 246 |
+
-0.05692246765016356
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "pedestal base",
|
| 254 |
+
"mask_color": "Blue",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp the pedestal base to lift the soap dish from below",
|
| 259 |
+
"confidence": 0.68
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "hold the base to reposition the soap dish on a countertop",
|
| 263 |
+
"confidence": 0.63
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"functional_labels": [
|
| 267 |
+
"support the dish above the surface",
|
| 268 |
+
"provide stable footing",
|
| 269 |
+
"elevate the bowl",
|
| 270 |
+
"distribute load to the countertop"
|
| 271 |
+
],
|
| 272 |
+
"semantic_description": "Rounded dark brown wooden pedestal base with a smooth satin finish and hard texture, medium-sized and centered underneath the bowl as a short circular foot.",
|
| 273 |
+
"id": 2,
|
| 274 |
+
"grasp_group": {
|
| 275 |
+
"grasp_32": {
|
| 276 |
+
"confidence": 0.13221576809883118,
|
| 277 |
+
"position": [
|
| 278 |
+
0.025107885769102722,
|
| 279 |
+
0.00957614101935178,
|
| 280 |
+
-0.11687618849100545
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.99486684227198,
|
| 284 |
+
"xyz": [
|
| 285 |
+
0.03908702622762193,
|
| 286 |
+
-0.07006325399068458,
|
| 287 |
+
-0.06167098968475509
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
}
|
| 292 |
+
}
|
| 293 |
+
],
|
| 294 |
+
"quality_check": {
|
| 295 |
+
"success": true,
|
| 296 |
+
"message": "YES"
|
| 297 |
+
}
|
| 298 |
+
}
|
dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:463660be2115509d3f52c3b22158b7c854a7e722580d2c725fe4b6f17402aead
|
| 3 |
+
size 3778552
|
dataset/bathroom_supplies/bath_products/02754f95c1ea5a74bb8026ea3d67670a/soap_dish_003.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|