Add asset bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd
Browse files
.gitattributes
CHANGED
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@@ -7969,3 +7969,4 @@ dataset/bathroom_supplies/personal_care/6298de4566a253c7b9ffd39f229ad81f/afforda
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| 7969 |
dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7969 |
dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7970 |
dataset/bathroom_supplies/personal_care/6949180532de5acebd8ccf7ebc61d901/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7971 |
dataset/bathroom_supplies/personal_care/6a7b77f27e3052fc9340c6762c4c2118/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7972 |
+
dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,595 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup wall",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side wall to pick up the mouthwash cup",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper wall to stabilize the cup during filling or pouring",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"provide the main grasp surface",
|
| 20 |
+
"form the drinking rim",
|
| 21 |
+
"support pouring orientation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large tapered light blue plastic cup wall with a translucent glossy finish, hard smooth surface, and simple unmarked cylindrical shape forming most of the object above the base.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9771578311920166,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.06670612923335284,
|
| 30 |
+
-0.08310448778502177,
|
| 31 |
+
-0.008313662488944829
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6856821309585547,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6464517402715494,
|
| 37 |
+
0.2371605199303789,
|
| 38 |
+
-0.23599798848798073
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9739829301834106,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0459981047315523,
|
| 46 |
+
-0.09275626791350078,
|
| 47 |
+
-0.02200133737642318
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7572189663043707,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6124683755725449,
|
| 53 |
+
0.15846398494457137,
|
| 54 |
+
-0.16245335166734917
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9724249243736267,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.005671942490153015,
|
| 62 |
+
0.0041899655043380335,
|
| 63 |
+
0.11659444111865014
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.011804977456831286,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.8928305244031033,
|
| 69 |
+
0.44960356652945116,
|
| 70 |
+
0.023894145000825043
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9720097184181213,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.004662809311412275,
|
| 78 |
+
-0.0010447536333231255,
|
| 79 |
+
0.11799889046233147
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.010039474948549294,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.8423444481854133,
|
| 85 |
+
0.5383328506096168,
|
| 86 |
+
0.02351130597164714
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9704208374023438,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.05393536470364779,
|
| 94 |
+
-0.08981146318546962,
|
| 95 |
+
-0.01170079701114446
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.715313335751568,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6435869520431206,
|
| 101 |
+
0.18702609000911574,
|
| 102 |
+
-0.1978481956241005
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
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dataset/bathroom_supplies/personal_care/6b336d8bb31355439cdb79efc6131bbd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:7c1edf90a07d744046c1aa9863abe233b7c6355b51d9c5c698a9993300dbd265
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| 3 |
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size 3781640
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