Add asset bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f
Browse files
.gitattributes
CHANGED
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@@ -5630,3 +5630,4 @@ dataset/bathroom_supplies/bath_products/78de7bfceae05932828f3302b6c3d9c9/afforda
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| 5630 |
dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5631 |
dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5632 |
dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5630 |
dataset/bathroom_supplies/bath_products/7a18ab085b075a30aaf509c4382241bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5631 |
dataset/bathroom_supplies/bath_products/7ba964ec513757f5bc0bfcd3500af2fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5632 |
dataset/bathroom_supplies/bath_products/7bb4e1975cc4589eaddb9f88f9aaec08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5633 |
+
dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,888 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "long side face of sponge",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
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|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the long side to pick up the sponge from a surface",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the long side while pressing the sponge against another surface for cleaning",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch along the long side to stabilize and reorient the sponge during wiping",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"side cleaning contact",
|
| 24 |
+
"stabilize during manipulation",
|
| 25 |
+
"provide broad lateral contact area"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular dark gray sponge side face with a matte finish and soft porous texture, showing many visible pits and holes across the surface.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_11": {
|
| 31 |
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"confidence": 0.6334744691848755,
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
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| 44 |
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| 45 |
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},
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| 46 |
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|
| 47 |
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|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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-0.031301743001677096
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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| 55 |
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| 56 |
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| 58 |
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0.6230485454834801
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| 59 |
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| 60 |
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|
| 61 |
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}
|
| 62 |
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}
|
| 63 |
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},
|
| 64 |
+
{
|
| 65 |
+
"part_name": "broad flat face of sponge",
|
| 66 |
+
"mask_color": "Green",
|
| 67 |
+
"graspable": true,
|
| 68 |
+
"grasp_scenarios": [
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp across the broad flat face to lift or reposition the sponge",
|
| 71 |
+
"confidence": 0.86
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "press the broad face onto a surface for wiping or scrubbing",
|
| 75 |
+
"confidence": 0.93
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
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"scenario": "use the broad face to distribute pressure during cleaning",
|
| 79 |
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"confidence": 0.88
|
| 80 |
+
}
|
| 81 |
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],
|
| 82 |
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"functional_labels": [
|
| 83 |
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"primary wiping surface",
|
| 84 |
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"press against flat surfaces",
|
| 85 |
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"distribute pressure during scrubbing",
|
| 86 |
+
"broad cleaning contact"
|
| 87 |
+
],
|
| 88 |
+
"semantic_description": "Broad rectangular dark gray sponge face with a matte, slightly smoother appearance than the porous sides, mostly flat with a few small visible pores in some views.",
|
| 89 |
+
"id": 1,
|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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| 96 |
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| 97 |
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],
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]
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},
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| 108 |
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],
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],
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0.712680224257011,
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},
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},
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| 186 |
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|
| 188 |
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| 189 |
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0.006699958234094083
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0.6932153928728744,
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| 201 |
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| 202 |
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},
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0.0491985097178258,
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0.006720550707541406
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0.7125647705112972,
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0.09383048148666784,
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| 218 |
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},
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| 220 |
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0.08150013681733981,
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],
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]
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}
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},
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"grasp_39": {
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| 236 |
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0.011967786937020719
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],
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0.7008284192737733,
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]
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| 250 |
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}
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| 251 |
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}
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| 252 |
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},
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| 253 |
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{
|
| 254 |
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"part_name": "narrow end face of sponge",
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| 255 |
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"mask_color": "Blue",
|
| 256 |
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|
| 257 |
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| 258 |
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{
|
| 259 |
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"scenario": "grasp the narrow end to lift or reposition the sponge in tighter spaces",
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| 260 |
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"confidence": 0.76
|
| 261 |
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},
|
| 262 |
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{
|
| 263 |
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"scenario": "use the end face to clean edges or corners",
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| 264 |
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"confidence": 0.73
|
| 265 |
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}
|
| 266 |
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],
|
| 267 |
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"functional_labels": [
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| 268 |
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"clean edges and corners",
|
| 269 |
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"provide end contact surface",
|
| 270 |
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"support repositioning",
|
| 271 |
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"reach narrow areas"
|
| 272 |
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],
|
| 273 |
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"semantic_description": "Smaller rectangular dark gray sponge end face with a matte finish and soft porous texture, located on one short end of the block.",
|
| 274 |
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"id": 2,
|
| 275 |
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| 276 |
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],
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},
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],
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},
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]
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}
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},
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0.013879837992135435,
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],
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]
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}
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},
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],
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},
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],
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},
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],
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dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3783800
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