Add asset bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f
Browse files
.gitattributes
CHANGED
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@@ -5665,3 +5665,4 @@ dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/afforda
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| 5665 |
dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5666 |
dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5667 |
dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5665 |
dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5666 |
dataset/bathroom_supplies/bath_products/aa3a6c6fc6e65b90a98f38d5e1dfb281/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5667 |
dataset/bathroom_supplies/bath_products/aa8c8788b95a59928b89f81bee9266d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5668 |
+
dataset/bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,610 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top sponge layer",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top layer from the sides to pick up the sponge from a flat surface",
|
| 10 |
+
"confidence": 0.87
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top surface area while pressing the sponge against a countertop for wiping",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch an upper edge of the top layer to reorient the sponge",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main cleaning contact surface",
|
| 23 |
+
"distribute pressure during wiping",
|
| 24 |
+
"offer compliant surface for handling",
|
| 25 |
+
"contribute absorbent sponge volume"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Top light blue sponge layer with a matte porous foam texture, rectangular block shape, and several white lengthwise stripes visible across the top face and upper side surfaces.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9560815691947937,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0010013924074883107,
|
| 34 |
+
-0.08165332130738534,
|
| 35 |
+
0.08991121891449438
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.0023237885124247214,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.005123850364198088,
|
| 41 |
+
0.9692890081093176,
|
| 42 |
+
0.24586005149851028
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9529479146003723,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.003063831911276793,
|
| 50 |
+
-0.08346560053178109,
|
| 51 |
+
0.09339682403515326
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.02505036095457949,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.0009788123165549003,
|
| 57 |
+
0.9675611311885945,
|
| 58 |
+
0.2513900927951243
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9506338834762573,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.00701249038320384,
|
| 66 |
+
-0.07926532081910409,
|
| 67 |
+
0.09196298960159766
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.2575956770746998,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.9650057545257541,
|
| 73 |
+
-0.012571093696500446,
|
| 74 |
+
-0.04743762734243983
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9488033056259155,
|
| 80 |
+
"position": [
|
| 81 |
+
0.004722147514257813,
|
| 82 |
+
-0.12037702105590142,
|
| 83 |
+
0.05054849404405104
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.026130877657188228,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.0036997422712174892,
|
| 89 |
+
-0.8696331935270676,
|
| 90 |
+
-0.49299249269730816
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9468153715133667,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0005342319818737451,
|
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|
dataset/bathroom_supplies/bath_products/b06a3a417d2e5536ae60d997d9d5db1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:e042f80c9c875649507c693771f017b0e11c067136bd68b94cab70bec429b318
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| 3 |
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size 3779196
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