Add asset bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a
Browse files
.gitattributes
CHANGED
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@@ -5575,4 +5575,4 @@ dataset/bathroom_supplies/bath_products/26d77a82c21b5463bc0c9101cfed7cf3/afforda
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| 5575 |
dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5576 |
dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5577 |
dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5578 |
-
dataset/bathroom_supplies/bath_products/
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| 5575 |
dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5576 |
dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5577 |
dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5578 |
+
dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1357 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the bottle",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while dispensing liquid from the top opening",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body upright on a surface",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain product",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural housing",
|
| 26 |
+
"stand on base"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white bottle body with a smooth glossy surface, flattened teardrop shape, broad rounded base, and black printed logo/text on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.985040545463562,
|
| 33 |
+
"position": [
|
| 34 |
+
0.005530536666810804,
|
| 35 |
+
0.10942340493784286,
|
| 36 |
+
-0.030738166067749262
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.041843548433817754,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.006967104138633919,
|
| 42 |
+
-0.7203406423537455,
|
| 43 |
+
0.6923221330333026
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9849641919136047,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.008083662457465834,
|
| 51 |
+
0.11180960983620025,
|
| 52 |
+
-0.03839536244049668
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7091556057223964,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.7044451081035489,
|
| 58 |
+
0.023127963018119146,
|
| 59 |
+
0.017902901108844918
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9843043684959412,
|
| 65 |
+
"position": [
|
| 66 |
+
0.0031643128286305,
|
| 67 |
+
0.1161376521049533,
|
| 68 |
+
-0.04052463034167886
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7156786394843352,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.6982906526521254,
|
| 74 |
+
-0.00884628553567779,
|
| 75 |
+
-0.010769987778118158
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.9842306971549988,
|
| 81 |
+
"position": [
|
| 82 |
+
0.0017537521462145378,
|
| 83 |
+
0.11692912728176452,
|
| 84 |
+
-0.042322559747844934
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7278653416958716,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.6854176395216814,
|
| 90 |
+
-0.020140063043350698,
|
| 91 |
+
0.0030135777887082436
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9842092990875244,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0007483050894734333,
|
| 99 |
+
0.11393318921909668,
|
| 100 |
+
-0.04156031319871545
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.7156680200743978,
|
| 104 |
+
"xyz": [
|
| 105 |
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0.698403378215479,
|
| 106 |
+
0.006960264023456952,
|
| 107 |
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0.0018870783559630446
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.9842039942741394,
|
| 113 |
+
"position": [
|
| 114 |
+
0.001769620951563411,
|
| 115 |
+
0.11018439233885147,
|
| 116 |
+
-0.031470580492168665
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.01755226605650943,
|
| 120 |
+
"xyz": [
|
| 121 |
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-0.006771176606942639,
|
| 122 |
+
-0.7094361102570561,
|
| 123 |
+
0.7045186119521453
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9841177463531494,
|
| 129 |
+
"position": [
|
| 130 |
+
0.0008005688114280929,
|
| 131 |
+
0.10622519851312973,
|
| 132 |
+
-0.07866090396419168
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.01653412793151829,
|
| 136 |
+
"xyz": [
|
| 137 |
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0.003860333860363757,
|
| 138 |
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-0.5282366667827446,
|
| 139 |
+
0.8489274081464719
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.9836514592170715,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.01358041118055553,
|
| 147 |
+
0.11390355826006271,
|
| 148 |
+
-0.048462497536093
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.050825575784681165,
|
| 152 |
+
"xyz": [
|
| 153 |
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-0.054382887758575,
|
| 154 |
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0.6897680067984968,
|
| 155 |
+
-0.7201939732894341
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.9835754632949829,
|
| 161 |
+
"position": [
|
| 162 |
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0.004504896726757579,
|
| 163 |
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0.11421672106371261,
|
| 164 |
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-0.04599644849076867
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
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"w": 0.7211965108174152,
|
| 168 |
+
"xyz": [
|
| 169 |
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0.6925449828702915,
|
| 170 |
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-0.013208690322345173,
|
| 171 |
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-0.00908680284490451
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}
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}
|
dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 37324672
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