Add asset bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff
Browse files
.gitattributes
CHANGED
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@@ -5616,3 +5616,4 @@ dataset/bathroom_supplies/bath_products/67a18fd24ad4550cbe195c3b95adc7e9/afforda
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| 5616 |
dataset/bathroom_supplies/bath_products/67dbf51b5fdc5d8aabe51c6bae453d07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5617 |
dataset/bathroom_supplies/bath_products/6878125a10585bfbb5a8ac6e24bcf652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5618 |
dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5616 |
dataset/bathroom_supplies/bath_products/67dbf51b5fdc5d8aabe51c6bae453d07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5617 |
dataset/bathroom_supplies/bath_products/6878125a10585bfbb5a8ac6e24bcf652/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5618 |
dataset/bathroom_supplies/bath_products/691ac0f4c6275a6e974e6e01a1897581/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5619 |
+
dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,387 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "soap dish tray",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tray by opposing outer side walls to pick up the soap dish",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the rim area to reposition the soap dish on a sink or shelf",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the tray while cleaning or emptying water from it",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"hold a bar of soap",
|
| 23 |
+
"support the soap above the counter",
|
| 24 |
+
"drain water through slots",
|
| 25 |
+
"provide the main grasp surface",
|
| 26 |
+
"contain and position soap"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A small rectangular white plastic tray with rounded corners, a smooth glossy hard surface, and several long drainage slots across the top, forming the main upper body of the soap dish.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_25": {
|
| 32 |
+
"confidence": 0.9193817377090454,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.0068935498129576445,
|
| 35 |
+
0.13527901197085157,
|
| 36 |
+
-0.00913740943360608
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4874583211446651,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5156524290509289,
|
| 42 |
+
0.4938573033378466,
|
| 43 |
+
-0.5025852380448232
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_27": {
|
| 48 |
+
"confidence": 0.1388614922761917,
|
| 49 |
+
"position": [
|
| 50 |
+
0.009299074532464147,
|
| 51 |
+
0.119344410544727,
|
| 52 |
+
0.062495385602233
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
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"w": 0.5110790947512919,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.8590180444459216,
|
| 58 |
+
-0.024701612482117774,
|
| 59 |
+
0.016612903577871596
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_32": {
|
| 64 |
+
"confidence": 0.8409742712974548,
|
| 65 |
+
"position": [
|
| 66 |
+
0.016883465694263577,
|
| 67 |
+
0.1294917287887074,
|
| 68 |
+
-0.00016316647815983742
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.4936689362088748,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5376161893162822,
|
| 74 |
+
0.47264455617328327,
|
| 75 |
+
-0.49382885489529366
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_35": {
|
| 80 |
+
"confidence": 0.5399097204208374,
|
| 81 |
+
"position": [
|
| 82 |
+
0.020556242438033223,
|
| 83 |
+
0.12344572419533506,
|
| 84 |
+
-0.023634648576262407
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5213599693283262,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.5025974482511671,
|
| 90 |
+
0.44169745157798757,
|
| 91 |
+
-0.5296064091973339
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"part_name": "base of soap dish",
|
| 99 |
+
"mask_color": "Red",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"grasp_scenarios": [
|
| 102 |
+
{
|
| 103 |
+
"scenario": "grasp the lower side walls to lift the soap dish from below",
|
| 104 |
+
"confidence": 0.79
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"scenario": "pinch the base sides to stabilize the dish while placing it down",
|
| 108 |
+
"confidence": 0.72
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"scenario": "hold the base while washing or drying the soap dish",
|
| 112 |
+
"confidence": 0.68
|
| 113 |
+
}
|
| 114 |
+
],
|
| 115 |
+
"functional_labels": [
|
| 116 |
+
"support the tray",
|
| 117 |
+
"stabilize the soap dish on a surface",
|
| 118 |
+
"elevate the soap from pooled water",
|
| 119 |
+
"form the bottom contact structure"
|
| 120 |
+
],
|
| 121 |
+
"semantic_description": "A shallow light blue plastic lower base with a smooth semi-gloss hard finish, rounded rectangular shape, and slightly recessed underside that supports the dish and contacts the countertop.",
|
| 122 |
+
"id": 0,
|
| 123 |
+
"grasp_group": {
|
| 124 |
+
"grasp_0": {
|
| 125 |
+
"confidence": 0.7066130042076111,
|
| 126 |
+
"position": [
|
| 127 |
+
-0.00019285606686025858,
|
| 128 |
+
0.12721827352652326,
|
| 129 |
+
0.0010821355535881594
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
+
"w": 0.48425580949615865,
|
| 133 |
+
"xyz": [
|
| 134 |
+
0.5193667716530517,
|
| 135 |
+
0.5028527680263878,
|
| 136 |
+
-0.49284232890459695
|
| 137 |
+
]
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"grasp_1": {
|
| 141 |
+
"confidence": 0.6974159479141235,
|
| 142 |
+
"position": [
|
| 143 |
+
-0.02120032417587936,
|
| 144 |
+
0.12694802606711164,
|
| 145 |
+
-0.009555123440804891
|
| 146 |
+
],
|
| 147 |
+
"orientation": {
|
| 148 |
+
"w": 0.502728901331286,
|
| 149 |
+
"xyz": [
|
| 150 |
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0.5145989496532303,
|
| 151 |
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0.5022467259529767,
|
| 152 |
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-0.4797914120235429
|
| 153 |
+
]
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"grasp_2": {
|
| 157 |
+
"confidence": 0.6877901554107666,
|
| 158 |
+
"position": [
|
| 159 |
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-0.0012504360638558865,
|
| 160 |
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0.12669898296007887,
|
| 161 |
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0.0006362111162161455
|
| 162 |
+
],
|
| 163 |
+
"orientation": {
|
| 164 |
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"w": 0.49348900937461343,
|
| 165 |
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"xyz": [
|
| 166 |
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0.5124068726040576,
|
| 167 |
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0.4995110240557906,
|
| 168 |
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-0.4943647756276001
|
| 169 |
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]
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"grasp_3": {
|
| 173 |
+
"confidence": 0.6458462476730347,
|
| 174 |
+
"position": [
|
| 175 |
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-0.006496431073173881,
|
| 176 |
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0.12462863052496687,
|
| 177 |
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-0.02161835382867139
|
| 178 |
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],
|
| 179 |
+
"orientation": {
|
| 180 |
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"w": 0.4928728366435222,
|
| 181 |
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"xyz": [
|
| 182 |
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0.4735903330680181,
|
| 183 |
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|
| 184 |
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|
| 185 |
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]
|
| 186 |
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}
|
| 187 |
+
},
|
| 188 |
+
"grasp_4": {
|
| 189 |
+
"confidence": 0.6383841633796692,
|
| 190 |
+
"position": [
|
| 191 |
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0.0051708167884498835,
|
| 192 |
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0.12617119873175398,
|
| 193 |
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-0.009449266523006372
|
| 194 |
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],
|
| 195 |
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"orientation": {
|
| 196 |
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"w": 0.5166656630137343,
|
| 197 |
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"xyz": [
|
| 198 |
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|
| 199 |
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dataset/bathroom_supplies/bath_products/6998b855848d5d62afa6273b981345ff/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3780832
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