Add asset bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/affordance/affordance_annot.json +678 -0
- dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/sponge_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -5705,3 +5705,4 @@ dataset/bathroom_supplies/bath_products/e660188955435ec49d98db557f6a27af/afforda
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| 5705 |
dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5706 |
dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5707 |
dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5705 |
dataset/bathroom_supplies/bath_products/e70ccd5ad4495cda81de664588511174/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5706 |
dataset/bathroom_supplies/bath_products/ea6ddc4d4dbd5fd2841d2fcaad650c95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5707 |
dataset/bathroom_supplies/bath_products/ea9ba33513c05edda32f029dae7f2e0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5708 |
+
dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,678 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scrubbing pad",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top scrubbing pad to pick up and reposition the sponge",
|
| 10 |
+
"confidence": 0.68
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the scrubbing pad to hold the sponge while wiping a surface",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide abrasive cleaning",
|
| 19 |
+
"scrub stuck-on residue",
|
| 20 |
+
"contact rough cleaning surface",
|
| 21 |
+
"add friction during wiping"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Flat rectangular top layer with a pink-and-white checkered fibrous fabric appearance, matte finish, slightly rough texture, and shallow scalloped indentations along one long edge.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_22": {
|
| 27 |
+
"confidence": 0.04825051128864288,
|
| 28 |
+
"position": [
|
| 29 |
+
0.032555801793932915,
|
| 30 |
+
0.1347809312865138,
|
| 31 |
+
0.0060491788335639285
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7518507454995039,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6575864637831779,
|
| 37 |
+
-0.04313058422201088,
|
| 38 |
+
-0.02098217923963313
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_24": {
|
| 43 |
+
"confidence": 0.8849807977676392,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.11668950133025646,
|
| 46 |
+
0.04423170443624258,
|
| 47 |
+
0.007240633307446842
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.17966828819269787,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6868498370982967,
|
| 53 |
+
-0.16206496110780189,
|
| 54 |
+
0.6853404671235134
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_26": {
|
| 59 |
+
"confidence": 0.27842041850090027,
|
| 60 |
+
"position": [
|
| 61 |
+
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dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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 sha256:4d13c68be2b726639c15411ab902a03f86e1b85f66b39fc3d823129eabc6eee0
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| 3 |
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size 3780860
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dataset/bathroom_supplies/bath_products/ee684cfd7fff56318be237896598d499/sponge_026.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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|
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|
| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
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| 60 |
</visual_seg>
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| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
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| 64 |
<PartSegChecker>YES</PartSegChecker>
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