Add asset bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af
Browse files
.gitattributes
CHANGED
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@@ -5569,3 +5569,4 @@ dataset/bathroom_supplies/bath_products/236bedd4298e5615b5bffe72019e5a75/afforda
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| 5569 |
dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5570 |
dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5571 |
dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5569 |
dataset/bathroom_supplies/bath_products/2479f90f8ff85cb49b15c7347c128193/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5570 |
dataset/bathroom_supplies/bath_products/255a68b217c156aba058a331926e4e3b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5571 |
dataset/bathroom_supplies/bath_products/257c216f3c3056fb8e2cf83ad2f3089f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5572 |
+
dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,577 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top layer",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the block across its broad faces to pick it up",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top face and side edges to reposition or place the block",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch along an edge of the top layer to stabilize the object during handling",
|
| 18 |
+
"confidence": 0.64
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"top contact surface",
|
| 23 |
+
"outer covering layer",
|
| 24 |
+
"provides flat handling surface"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Large light gray to off-white rectangular top layer with a matte finish and fine wavy textured pattern, flat broad face, slightly rounded edges, covering the upper side of the block.",
|
| 27 |
+
"id": 1,
|
| 28 |
+
"grasp_group": {
|
| 29 |
+
"grasp_20": {
|
| 30 |
+
"confidence": 0.8385981321334839,
|
| 31 |
+
"position": [
|
| 32 |
+
-0.000404573162086308,
|
| 33 |
+
-0.10196207626722753,
|
| 34 |
+
0.09049414432956837
|
| 35 |
+
],
|
| 36 |
+
"orientation": {
|
| 37 |
+
"w": 0.2521484502422905,
|
| 38 |
+
"xyz": [
|
| 39 |
+
-0.9673136311223521,
|
| 40 |
+
-0.026922814114565485,
|
| 41 |
+
-0.0008125056638956441
|
| 42 |
+
]
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"grasp_21": {
|
| 46 |
+
"confidence": 0.8378937244415283,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.001906437799334526,
|
| 49 |
+
0.0028395249973982573,
|
| 50 |
+
0.10344577170326374
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.015030488018269226,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.9993238299610675,
|
| 56 |
+
0.014088028404816655,
|
| 57 |
+
0.030454798596301666
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_22": {
|
| 62 |
+
"confidence": 0.8360840082168579,
|
| 63 |
+
"position": [
|
| 64 |
+
0.007655568886548281,
|
| 65 |
+
0.04475237266160548,
|
| 66 |
+
-0.09520495348260738
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.9931157132735396,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.11639793185082017,
|
| 72 |
+
-0.011710871055430339,
|
| 73 |
+
0.0059629698274424065
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_23": {
|
| 78 |
+
"confidence": 0.8335708975791931,
|
| 79 |
+
"position": [
|
| 80 |
+
0.0035346252843737602,
|
| 81 |
+
0.019505191827192903,
|
| 82 |
+
-0.09883288704440929
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.9997583524127371,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.010628636009742547,
|
| 88 |
+
0.0030207420205546898,
|
| 89 |
+
0.019003788969226165
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_24": {
|
| 94 |
+
"confidence": 0.8285629749298096,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.0026791684795171022,
|
| 97 |
+
-0.012497442541643977,
|
| 98 |
+
0.10294095761491917
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.028552181083151024,
|
| 102 |
+
"xyz": [
|
| 103 |
+
-0.9991597929632764,
|
| 104 |
+
-0.009211538165940232,
|
| 105 |
+
-0.027921830985717478
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_25": {
|
| 110 |
+
"confidence": 0.8268811106681824,
|
| 111 |
+
"position": [
|
| 112 |
+
0.007673699874430895,
|
| 113 |
+
0.012009444879367948,
|
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"position": [
|
| 525 |
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0.012225343380123377,
|
| 526 |
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-0.13406777544878423,
|
| 527 |
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-0.06753419750020839
|
| 528 |
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],
|
| 529 |
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"orientation": {
|
| 530 |
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"w": 0.023925957646328433,
|
| 531 |
+
"xyz": [
|
| 532 |
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-0.029367287289344,
|
| 533 |
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0.47706659283863495,
|
| 534 |
+
0.8780504410256326
|
| 535 |
+
]
|
| 536 |
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}
|
| 537 |
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},
|
| 538 |
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"grasp_17": {
|
| 539 |
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"confidence": 0.6371318101882935,
|
| 540 |
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"position": [
|
| 541 |
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|
| 542 |
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|
| 543 |
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-0.06966187470243312
|
| 544 |
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],
|
| 545 |
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"orientation": {
|
| 546 |
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"w": 0.0421086706506184,
|
| 547 |
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"xyz": [
|
| 548 |
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|
| 549 |
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|
| 550 |
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0.8941326380857706
|
| 551 |
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]
|
| 552 |
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}
|
| 553 |
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},
|
| 554 |
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"grasp_18": {
|
| 555 |
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"confidence": 0.585123598575592,
|
| 556 |
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"position": [
|
| 557 |
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0.007441090885549784,
|
| 558 |
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-0.13760636909864843,
|
| 559 |
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0.013164295436581597
|
| 560 |
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],
|
| 561 |
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"orientation": {
|
| 562 |
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"w": 0.02201386702754323,
|
| 563 |
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"xyz": [
|
| 564 |
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-0.023475408542926127,
|
| 565 |
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|
| 566 |
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0.6171105054264254
|
| 567 |
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]
|
| 568 |
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}
|
| 569 |
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}
|
| 570 |
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}
|
| 571 |
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}
|
| 572 |
+
],
|
| 573 |
+
"quality_check": {
|
| 574 |
+
"success": false,
|
| 575 |
+
"message": "Top green mask is not a separate top layer; it covers outer shell/rim. Part identities and descriptions are inaccurate."
|
| 576 |
+
}
|
| 577 |
+
}
|
dataset/bathroom_supplies/bath_products/26050a8f26ab5da9b88321b7425b45af/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed9ec1062f2584a6061eb489bb4c06640426e4758acc6089f60957763c580727
|
| 3 |
+
size 3778228
|