Add asset bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/affordance/affordance_annot.json +230 -0
- dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -5713,3 +5713,4 @@ dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/afforda
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| 5713 |
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5714 |
dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5715 |
dataset/bathroom_supplies/bath_products/f95d62f587f15dcb87c925c8568ed669/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5713 |
dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5714 |
dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5715 |
dataset/bathroom_supplies/bath_products/f95d62f587f15dcb87c925c8568ed669/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5716 |
+
dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,230 @@
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| 1 |
+
{
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| 2 |
+
"affordances": [
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| 3 |
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{
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| 4 |
+
"part_name": "soap dish body",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
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| 8 |
+
{
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| 9 |
+
"scenario": "grasp the main body from the sides to pick up and reposition the soap dish",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to empty water or clean the dish",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the body while placing or removing a bar of soap",
|
| 18 |
+
"confidence": 0.67
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"hold a bar of soap",
|
| 23 |
+
"drain water through the slotted tray",
|
| 24 |
+
"support the dish on a countertop",
|
| 25 |
+
"provide the main grasp surface",
|
| 26 |
+
"provide decorative animal shape"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small cat-shaped dark gray plastic body with a matte to satin hard smooth surface, rounded compact form, integrated slotted top tray, and decorative ears, face, legs, and curled tail around the perimeter.",
|
| 29 |
+
"id": 0,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_1": {
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| 32 |
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"confidence": 0.976244330406189,
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| 33 |
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"position": [
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],
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"orientation": {
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"w": 0.2052709921219319,
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"xyz": [
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]
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}
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| 46 |
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},
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"grasp_2": {
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| 48 |
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"confidence": 0.9761357307434082,
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| 49 |
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"position": [
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],
|
| 226 |
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"quality_check": {
|
| 227 |
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"success": true,
|
| 228 |
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"message": "YES"
|
| 229 |
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}
|
| 230 |
+
}
|
dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ae948ef67e525bab9d4235df0ce6986e4e657ddc162dc49a217251ebb957622
|
| 3 |
+
size 3777008
|
dataset/bathroom_supplies/bath_products/fa1be3e208ff51d6979f60ea95dfca22/soap_dish_004.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
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|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|