Add asset bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066
Browse files
.gitattributes
CHANGED
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@@ -5678,3 +5678,4 @@ dataset/bathroom_supplies/bath_products/be92dafc86355dceb72db63b1349ddc0/afforda
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| 5678 |
dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5679 |
dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5680 |
dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5678 |
dataset/bathroom_supplies/bath_products/bf2234ba2fb353c2a7bcd86cb9401e2d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5679 |
dataset/bathroom_supplies/bath_products/c008859287615c6eb4a9ecdbe87e6730/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5680 |
dataset/bathroom_supplies/bath_products/bf88922e0cc454f1a477ef8bc23ea5da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5681 |
+
dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,579 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scrubber body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up and move the scrubber",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold and press the body against a surface while scrubbing or washing",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the body while rinsing or squeezing water through its holes",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"scrub surfaces",
|
| 23 |
+
"wash dishes or kitchenware",
|
| 24 |
+
"provide the main contact area",
|
| 25 |
+
"channel water through perforations",
|
| 26 |
+
"support overall handling"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large off-white or cream rubbery scrubber body with a matte finish, flower-like scalloped outline, and many small to medium round perforations across the surface. It forms nearly the entire object and appears flexible rather than porous foam.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9602096080780029,
|
| 33 |
+
"position": [
|
| 34 |
+
0.015584398526698351,
|
| 35 |
+
-0.14370393264107406,
|
| 36 |
+
-0.002488749392796308
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5856975101451505,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.38979337243209916,
|
| 42 |
+
-0.5896131225893054,
|
| 43 |
+
-0.3967063386035964
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_23": {
|
| 48 |
+
"confidence": 0.9550141096115112,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.006074497476220131,
|
| 51 |
+
0.14934520912356675,
|
| 52 |
+
-0.023036515398416668
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5238772938959851,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.4860963331627416,
|
| 58 |
+
0.4390440346864557,
|
| 59 |
+
-0.5445211395641083
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_25": {
|
| 64 |
+
"confidence": 0.9528038501739502,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.05451195640489459,
|
| 67 |
+
0.14192256820388138,
|
| 68 |
+
-0.006409555266145617
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.42471844409968773,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5639550234836912,
|
| 74 |
+
-0.40233070489833433,
|
| 75 |
+
0.5828370086268189
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_27": {
|
| 80 |
+
"confidence": 0.9524924755096436,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.05010613379999995,
|
| 83 |
+
0.14321193587966263,
|
| 84 |
+
0.0010558341164141893
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.42957700704454194,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5698387036866345,
|
| 90 |
+
-0.4170601201216143,
|
| 91 |
+
0.5628572669900724
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_30": {
|
| 96 |
+
"confidence": 0.9513050317764282,
|
| 97 |
+
"position": [
|
| 98 |
+
0.008486220147460699,
|
| 99 |
+
-0.14562324690632522,
|
| 100 |
+
-0.008460412791464478
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4325283569601598,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5723519653932501,
|
| 106 |
+
0.4082308943358305,
|
| 107 |
+
0.5645174798406128
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_31": {
|
| 112 |
+
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dataset/bathroom_supplies/bath_products/c1b7e22ec7f252d4865c9d7bc3ea7066/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 sha256:769223e4dc3a18c2fcf42ff976b80117a77c68328472217b1f3474e899d46166
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| 3 |
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size 3777516
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