Add asset bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/affordance_annot.json +546 -0
- dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.urdf +2 -1
.gitattributes
CHANGED
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@@ -5708,3 +5708,4 @@ dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/afforda
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| 5708 |
dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5709 |
dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5710 |
dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5708 |
dataset/bathroom_supplies/bath_products/ee872e868fab5e748b2e3da73f5a64fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5709 |
dataset/bathroom_supplies/bath_products/efd5fb22181f5b068ebf9e5680de0826/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5710 |
dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5711 |
+
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,546 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer sidewall foam rim",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer sidewall around the perimeter to pick up the sponge from a surface",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the tapered outer edge to reorient the sponge",
|
| 14 |
+
"confidence": 0.77
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the sidewall while pressing a face against a target surface for cleaning",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide graspable perimeter",
|
| 23 |
+
"define outer shape",
|
| 24 |
+
"protect edges",
|
| 25 |
+
"add side support"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Orange foam sidewall forming the thick outer rim around the teardrop-shaped sponge. It has a matte porous appearance, rounded edges, and wraps the perimeter of the object.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8837215900421143,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.002384267980232835,
|
| 34 |
+
0.014825594866124447,
|
| 35 |
+
-0.0965334887150675
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.08424153229337761,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.01116783657463624,
|
| 41 |
+
0.04021722589246668,
|
| 42 |
+
-0.995570800297307
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.8782060742378235,
|
| 48 |
+
"position": [
|
| 49 |
+
0.007640106952749193,
|
| 50 |
+
-4.739891301142052e-05,
|
| 51 |
+
-0.10035695531405509
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.09249484084328437,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.013271749554394176,
|
| 57 |
+
0.007312888532848505,
|
| 58 |
+
-0.9955978539261962
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.8775087594985962,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0033957044361159205,
|
| 66 |
+
0.010086224669066723,
|
| 67 |
+
-0.0972790087107569
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.9969310442986568,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.015534150986836786,
|
| 73 |
+
0.02400942128290795,
|
| 74 |
+
0.07287476076370952
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.8747504353523254,
|
| 80 |
+
"position": [
|
| 81 |
+
0.003196971374563873,
|
| 82 |
+
0.00996641560777789,
|
| 83 |
+
-0.0979392419103533
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.12073845619491538,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.008560815652589647,
|
| 89 |
+
0.022294372813108865,
|
| 90 |
+
-0.992397046837555
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.8736310601234436,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0043973507126793265,
|
| 98 |
+
0.04816467526688939,
|
| 99 |
+
-0.09653056063689291
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.09110954354266412,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.0167677395699535,
|
| 105 |
+
0.17585821886041053,
|
| 106 |
+
-0.9800468258427272
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_11": {
|
| 111 |
+
"confidence": 0.8696579933166504,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.003520208760164678,
|
| 114 |
+
0.010499525138584431,
|
| 115 |
+
-0.10079502710141242
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.9953329844086933,
|
| 119 |
+
"xyz": [
|
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+
"orientation": {
|
| 531 |
+
"w": 0.5131370234017953,
|
| 532 |
+
"xyz": [
|
| 533 |
+
-0.4941817118533544,
|
| 534 |
+
0.5099793570381806,
|
| 535 |
+
0.48207456506121227
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
}
|
| 539 |
+
}
|
| 540 |
+
}
|
| 541 |
+
],
|
| 542 |
+
"quality_check": {
|
| 543 |
+
"success": false,
|
| 544 |
+
"message": "Misses a visible small green patch part in the mask, so annotation is incomplete."
|
| 545 |
+
}
|
| 546 |
+
}
|
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d1a4053ed01d3e823da6cea7ae385519e1d8deee10a01055cf31459106d065fc
|
| 3 |
+
size 3896336
|
dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/sponge_031.urdf
CHANGED
|
@@ -50,13 +50,14 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>3</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|