Add asset bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696
Browse files
.gitattributes
CHANGED
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@@ -5672,4 +5672,4 @@ dataset/bathroom_supplies/bath_products/b15fd38ad9025295a4ff0293feb4e2a9/afforda
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| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5675 |
-
dataset/bathroom_supplies/bath_products/
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| 5672 |
dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5675 |
+
dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,280 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer sponge body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer sidewall to pick up and reposition the sponge",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "compress the outer body to hold the sponge during wiping or scrubbing",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the rim area to orient the ring-shaped sponge",
|
| 18 |
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"confidence": 0.83
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"main cleaning surface",
|
| 23 |
+
"provide compliant grasp area",
|
| 24 |
+
"absorb and retain water",
|
| 25 |
+
"compress for scrubbing",
|
| 26 |
+
"support overall structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large ring-shaped yellow foam body with a matte porous surface, soft springy texture, and many visible round pores across the top and outer sides, forming most of the sponge.",
|
| 29 |
+
"id": 0,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.8410760164260864,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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],
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| 38 |
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"orientation": {
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"w": 0.010202067173888989,
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| 40 |
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"xyz": [
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| 43 |
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| 44 |
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]
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| 45 |
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}
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| 46 |
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},
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| 47 |
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"grasp_2": {
|
| 48 |
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"confidence": 0.7780743837356567,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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0.05744991113897413,
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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"w": 0.30036609667723946,
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"xyz": [
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| 59 |
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| 60 |
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]
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| 61 |
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}
|
| 62 |
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},
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| 63 |
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"grasp_3": {
|
| 64 |
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"confidence": 0.770992636680603,
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| 65 |
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"position": [
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| 66 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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"w": 0.18580824055836448,
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| 72 |
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"xyz": [
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| 75 |
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]
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| 77 |
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}
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| 78 |
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},
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| 79 |
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"grasp_4": {
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| 80 |
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"confidence": 0.7242656946182251,
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"position": [
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| 84 |
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],
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"orientation": {
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"w": 0.25893872606819235,
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"xyz": [
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| 92 |
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]
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}
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| 94 |
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},
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"grasp_6": {
|
| 96 |
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"confidence": 0.71077561378479,
|
| 97 |
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"position": [
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| 98 |
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| 100 |
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| 101 |
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],
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"orientation": {
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"w": 0.4166078165632647,
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| 104 |
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"xyz": [
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]
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}
|
| 110 |
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},
|
| 111 |
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"grasp_7": {
|
| 112 |
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"confidence": 0.6768475770950317,
|
| 113 |
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"position": [
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],
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"orientation": {
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| 123 |
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| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_10": {
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| 128 |
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"confidence": 0.6448558568954468,
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| 129 |
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"position": [
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| 132 |
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| 133 |
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],
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"orientation": {
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| 135 |
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"w": 0.3769318528756167,
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| 136 |
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"xyz": [
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| 139 |
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| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_12": {
|
| 144 |
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"confidence": 0.6081379652023315,
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| 145 |
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"position": [
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| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.19006253637489312,
|
| 152 |
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"xyz": [
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| 153 |
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-0.8245767539311191,
|
| 154 |
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0.3039429474462938,
|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_13": {
|
| 160 |
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"confidence": 0.5791327357292175,
|
| 161 |
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"position": [
|
| 162 |
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|
| 163 |
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0.07174256106372923,
|
| 164 |
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0.05620749910303857
|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.48593208296718915,
|
| 168 |
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"xyz": [
|
| 169 |
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0.28110245704623643,
|
| 170 |
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|
| 171 |
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|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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}
|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
+
{
|
| 178 |
+
"part_name": "bottom face",
|
| 179 |
+
"mask_color": "Green",
|
| 180 |
+
"graspable": true,
|
| 181 |
+
"grasp_scenarios": [
|
| 182 |
+
{
|
| 183 |
+
"scenario": "grasp the sponge across the bottom face and opposite side to lift it",
|
| 184 |
+
"confidence": 0.72
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"scenario": "hold the sponge by compressing the lower body during surface wiping or scrubbing",
|
| 188 |
+
"confidence": 0.78
|
| 189 |
+
}
|
| 190 |
+
],
|
| 191 |
+
"functional_labels": [
|
| 192 |
+
"contact cleaning surface",
|
| 193 |
+
"wipe flat areas",
|
| 194 |
+
"provide broad support face",
|
| 195 |
+
"absorb liquid during cleaning"
|
| 196 |
+
],
|
| 197 |
+
"semantic_description": "Broad circular yellow foam underside with a matte soft porous finish, located on the bottom face of the ring-shaped sponge.",
|
| 198 |
+
"id": 1,
|
| 199 |
+
"grasp_group": {
|
| 200 |
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"grasp_21": {
|
| 201 |
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"confidence": 0.04043801873922348,
|
| 202 |
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"position": [
|
| 203 |
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-0.09869309910573065,
|
| 204 |
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0.021639356738887727,
|
| 205 |
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0.06428437550493982
|
| 206 |
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],
|
| 207 |
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"orientation": {
|
| 208 |
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"w": 0.41838964807896367,
|
| 209 |
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"xyz": [
|
| 210 |
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0.09116125448400528,
|
| 211 |
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0.889202826465273,
|
| 212 |
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-0.16111505661307232
|
| 213 |
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]
|
| 214 |
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}
|
| 215 |
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}
|
| 216 |
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}
|
| 217 |
+
},
|
| 218 |
+
{
|
| 219 |
+
"part_name": "center hole wall",
|
| 220 |
+
"mask_color": "Yellow",
|
| 221 |
+
"graspable": true,
|
| 222 |
+
"grasp_scenarios": [
|
| 223 |
+
{
|
| 224 |
+
"scenario": "insert a slim gripper into the center opening to stabilize and orient the sponge",
|
| 225 |
+
"confidence": 0.58
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"scenario": "pinch the inner hole wall delicately to manipulate the sponge",
|
| 229 |
+
"confidence": 0.41
|
| 230 |
+
}
|
| 231 |
+
],
|
| 232 |
+
"functional_labels": [
|
| 233 |
+
"provide central opening",
|
| 234 |
+
"reduce material mass",
|
| 235 |
+
"aid orientation",
|
| 236 |
+
"allow insertion for manipulation or hanging"
|
| 237 |
+
],
|
| 238 |
+
"semantic_description": "Cylindrical inner opening lined with yellow foam, matte and soft with a porous texture, passing through the center of the sponge and defining its ring shape.",
|
| 239 |
+
"id": 3,
|
| 240 |
+
"grasp_group": {
|
| 241 |
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"grasp_24": {
|
| 242 |
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"confidence": 0.013654368929564953,
|
| 243 |
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"position": [
|
| 244 |
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-0.004692238522693515,
|
| 245 |
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-0.017719935276545584,
|
| 246 |
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0.09913170953223016
|
| 247 |
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],
|
| 248 |
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"orientation": {
|
| 249 |
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"w": 0.07003049552353056,
|
| 250 |
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"xyz": [
|
| 251 |
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|
| 252 |
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| 253 |
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| 254 |
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|
| 255 |
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|
| 256 |
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},
|
| 257 |
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"grasp_37": {
|
| 258 |
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"confidence": 0.007568397093564272,
|
| 259 |
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"position": [
|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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],
|
| 264 |
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"orientation": {
|
| 265 |
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"w": 0.07684035396214456,
|
| 266 |
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| 267 |
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|
| 268 |
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| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
+
}
|
| 275 |
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],
|
| 276 |
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"quality_check": {
|
| 277 |
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"success": true,
|
| 278 |
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"message": "YES"
|
| 279 |
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}
|
| 280 |
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}
|
dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:06b5081788bea2d91e68843af58e39ed7008f8eb17d75ac0e89813c1a16e4b53
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| 3 |
+
size 3781860
|