Add asset bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd
Browse files
.gitattributes
CHANGED
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@@ -5597,3 +5597,4 @@ dataset/bathroom_supplies/bath_products/45ff8562ab3a5b6f91c30ef3f5cb544e/afforda
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| 5597 |
dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5598 |
dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5599 |
dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5597 |
dataset/bathroom_supplies/bath_products/46acb34858fd5f3c9aef1d7b8e012376/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5598 |
dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5599 |
dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5600 |
+
dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,618 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "foam sponge body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sponge body from the sides to pick up and move the sponge",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the foam body while wiping a surface",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "compress the foam body slightly to stabilize placement or apply pressure during cleaning",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"absorb liquid",
|
| 23 |
+
"wipe surfaces",
|
| 24 |
+
"provide a compliant cleaning surface",
|
| 25 |
+
"main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light orange foam body with a matte porous open-cell texture, soft compressible feel, and a waisted rectangular shape covering most of the sponge top and side surfaces.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9839165806770325,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.003970620178733952,
|
| 34 |
+
-0.10734469583258033,
|
| 35 |
+
0.05039097502594814
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4837153002865773,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.8744573773157638,
|
| 41 |
+
-0.004541635667417054,
|
| 42 |
+
-0.036375500988530575
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9827379584312439,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.001448738228646107,
|
| 50 |
+
-0.10635601123794913,
|
| 51 |
+
0.05543988331919536
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4843310109915607,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.8745300817597952,
|
| 57 |
+
-0.005553848062292033,
|
| 58 |
+
-0.02428502956143883
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9819709062576294,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0035962657566415146,
|
| 66 |
+
-0.12485927483066916,
|
| 67 |
+
-0.0006749044841853902
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7171634299355628,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6966705361522084,
|
| 73 |
+
0.006200052897405661,
|
| 74 |
+
-0.016980523093321345
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9818914532661438,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.007535919969086535,
|
| 82 |
+
-0.10543203493580222,
|
| 83 |
+
0.04809392004972324
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.49399824051716823,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.8686818857510838,
|
| 89 |
+
-0.0025941007011014428,
|
| 90 |
+
-0.03675310021529624
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.981549084186554,
|
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|
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|
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|
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}
|
| 583 |
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}
|
| 584 |
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},
|
| 585 |
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{
|
| 586 |
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"part_name": "soap deposit",
|
| 587 |
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"mask_color": "Red",
|
| 588 |
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"graspable": false,
|
| 589 |
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|
| 590 |
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"functional_labels": [
|
| 591 |
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"hold soap on the sponge surface",
|
| 592 |
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"dispense soap during use",
|
| 593 |
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"mark a concentrated cleaning-agent area"
|
| 594 |
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],
|
| 595 |
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"semantic_description": "Orange glossy soap-like deposit on the top foam surface, appearing as an irregular elongated smear/blob near the left-central area of the top face.",
|
| 596 |
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"id": 0,
|
| 597 |
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"grasp_group": {}
|
| 598 |
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},
|
| 599 |
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{
|
| 600 |
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"part_name": "soap deposit",
|
| 601 |
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"mask_color": "Green",
|
| 602 |
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"graspable": false,
|
| 603 |
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|
| 604 |
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"functional_labels": [
|
| 605 |
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"hold soap on the sponge surface",
|
| 606 |
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"dispense soap during use",
|
| 607 |
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"mark a concentrated cleaning-agent area"
|
| 608 |
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],
|
| 609 |
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"semantic_description": "Orange glossy soap-like deposit on the top foam surface, appearing as a smaller irregular elongated smear/blob near the central-right area of the top face.",
|
| 610 |
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"id": 1,
|
| 611 |
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"grasp_group": {}
|
| 612 |
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}
|
| 613 |
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],
|
| 614 |
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"quality_check": {
|
| 615 |
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"success": true,
|
| 616 |
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"message": "YES"
|
| 617 |
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}
|
| 618 |
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}
|
dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f2e412941c68f766f46bd3697fb68c5266db0ca7ddd7c10320298ee9d0cc5006
|
| 3 |
+
size 3745952
|