Add asset bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb
Browse files
.gitattributes
CHANGED
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@@ -5589,4 +5589,4 @@ dataset/bathroom_supplies/bath_products/35b2dbc19a5a5f66932e971f4b60427a/afforda
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| 5589 |
dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5590 |
dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5592 |
-
dataset/bathroom_supplies/bath_products/
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| 5589 |
dataset/bathroom_supplies/bath_products/36458efd1e175bbb8a37736a80ecc6c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5590 |
dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5592 |
+
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1205 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "scrubbing pad",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top scrubbing pad to pick up and reposition the sponge",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the scrubbing pad to press the sponge against a surface while cleaning",
|
| 14 |
+
"confidence": 0.67
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scrub stuck-on residue",
|
| 19 |
+
"provide abrasive cleaning surface",
|
| 20 |
+
"apply downward cleaning pressure",
|
| 21 |
+
"contact dirty surfaces"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark blue abrasive top layer made of fibrous synthetic material with a matte rough surface, porous pitted texture, and a flat rectangular shape covering the sponge's upper face.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_21": {
|
| 27 |
+
"confidence": 0.9221978783607483,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.002361076418310404,
|
| 30 |
+
0.12413846363779157,
|
| 31 |
+
0.025906886919983663
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.06113846011796556,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.011099519143049933,
|
| 37 |
+
0.7486262973328673,
|
| 38 |
+
-0.6600739021585981
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_22": {
|
| 43 |
+
"confidence": 0.9087668657302856,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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0.12226766755338758,
|
| 47 |
+
0.013520637541660108
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
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|
| 51 |
+
"xyz": [
|
| 52 |
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0.7122280099543793,
|
| 53 |
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0.021562997244458537,
|
| 54 |
+
0.026318363952255633
|
| 55 |
+
]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
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"grasp_23": {
|
| 59 |
+
"confidence": 0.8685263395309448,
|
| 60 |
+
"position": [
|
| 61 |
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0.0020719486055895686,
|
| 62 |
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|
| 63 |
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0.003812749419012107
|
| 64 |
+
],
|
| 65 |
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"orientation": {
|
| 66 |
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|
| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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0.0014162841844728093
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_24": {
|
| 75 |
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"confidence": 0.7683481574058533,
|
| 76 |
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"position": [
|
| 77 |
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-0.0014911186881363392,
|
| 78 |
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0.10755315830465406,
|
| 79 |
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0.024564333274611272
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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|
| 83 |
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|
| 84 |
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0.7456013206946894,
|
| 85 |
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|
| 86 |
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0.04641751929850182
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| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_27": {
|
| 91 |
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"confidence": 0.9254587292671204,
|
| 92 |
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"position": [
|
| 93 |
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0.008119293488562107,
|
| 94 |
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0.12088483979459852,
|
| 95 |
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0.02883864195609931
|
| 96 |
+
],
|
| 97 |
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"orientation": {
|
| 98 |
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|
| 99 |
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|
| 100 |
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0.7670130313274209,
|
| 101 |
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0.010696695826763691,
|
| 102 |
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| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_28": {
|
| 107 |
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"confidence": 0.8403814435005188,
|
| 108 |
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"position": [
|
| 109 |
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0.0010522445081733167,
|
| 110 |
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0.11345739325042814,
|
| 111 |
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0.021003948539146222
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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|
| 115 |
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|
| 116 |
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0.0020928751275685804,
|
| 117 |
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|
| 118 |
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0.6693735590507439
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_29": {
|
| 123 |
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"confidence": 0.8121260404586792,
|
| 124 |
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|
| 125 |
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0.09774776408448815,
|
| 126 |
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0.014979515573941171,
|
| 127 |
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0.0626920946087921
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| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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0.01472380428208625
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| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_34": {
|
| 139 |
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"confidence": 0.9803447127342224,
|
| 140 |
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"position": [
|
| 141 |
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0.0014803277008468285,
|
| 142 |
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0.1274001788115129,
|
| 143 |
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0.0021969352528685704
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.4985470942733091,
|
| 147 |
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|
| 148 |
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0.5228569380449607,
|
| 149 |
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0.501775089279673,
|
| 150 |
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|
| 151 |
+
]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_35": {
|
| 155 |
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"confidence": 0.9792382121086121,
|
| 156 |
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"position": [
|
| 157 |
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0.04943990195170045,
|
| 158 |
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0.11807127704378217,
|
| 159 |
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0.003868750311085023
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.35850588291766544,
|
| 163 |
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"xyz": [
|
| 164 |
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0.5974994908310389,
|
| 165 |
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0.38808011733957315,
|
| 166 |
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_37": {
|
| 171 |
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"confidence": 0.965824544429779,
|
| 172 |
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"position": [
|
| 173 |
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0.1023732335306704,
|
| 174 |
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|
| 175 |
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0.003974535982706584
|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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"w": 0.19355426978338047,
|
| 179 |
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"xyz": [
|
| 180 |
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-0.6934276726898359,
|
| 181 |
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0.1699773424173835,
|
| 182 |
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0.672906019040775
|
| 183 |
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]
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"grasp_39": {
|
| 187 |
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"confidence": 0.962001621723175,
|
| 188 |
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"position": [
|
| 189 |
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0.10972727695479989,
|
| 190 |
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0.037452262244187295,
|
| 191 |
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0.012375910780974664
|
| 192 |
+
],
|
| 193 |
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"orientation": {
|
| 194 |
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"w": 0.11554963660417877,
|
| 195 |
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|
| 196 |
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0.7216857920735351,
|
| 197 |
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0.09686005058589464,
|
| 198 |
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|
| 199 |
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]
|
| 200 |
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}
|
| 201 |
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}
|
| 202 |
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}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "bottom foam face",
|
| 206 |
+
"mask_color": "Red",
|
| 207 |
+
"graspable": true,
|
| 208 |
+
"grasp_scenarios": [
|
| 209 |
+
{
|
| 210 |
+
"scenario": "grasp the bottom foam face together with the top pad or a side face to pick up the sponge",
|
| 211 |
+
"confidence": 0.86
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"scenario": "press the bottom foam face against a surface for wiping or absorbing liquid",
|
| 215 |
+
"confidence": 0.88
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"functional_labels": [
|
| 219 |
+
"soft wiping surface",
|
| 220 |
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"absorb water and soap",
|
| 221 |
+
"compress during cleaning",
|
| 222 |
+
"contact cleaning surface"
|
| 223 |
+
],
|
| 224 |
+
"semantic_description": "Large medium-to-dark blue foam underside with a matte soft open-cell texture, many visible holes, and a broad rectangular face forming the sponge's bottom surface.",
|
| 225 |
+
"id": 0,
|
| 226 |
+
"grasp_group": {
|
| 227 |
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"grasp_0": {
|
| 228 |
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"confidence": 0.9046577215194702,
|
| 229 |
+
"position": [
|
| 230 |
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0.009737669955939054,
|
| 231 |
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|
| 232 |
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-0.014292690888396464
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| 233 |
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],
|
| 234 |
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"orientation": {
|
| 235 |
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"w": 0.7169805356863607,
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| 236 |
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"xyz": [
|
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}
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| 1078 |
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},
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| 1079 |
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{
|
| 1080 |
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"part_name": "opposite short side foam face",
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| 1081 |
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"mask_color": "Blue",
|
| 1082 |
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"graspable": true,
|
| 1083 |
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"grasp_scenarios": [
|
| 1084 |
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{
|
| 1085 |
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"scenario": "pinch this short side with the opposite short side or top pad to reposition the sponge",
|
| 1086 |
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"confidence": 0.76
|
| 1087 |
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},
|
| 1088 |
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{
|
| 1089 |
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"scenario": "grasp this end to rotate the sponge for edge cleaning",
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| 1090 |
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"confidence": 0.66
|
| 1091 |
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}
|
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],
|
| 1093 |
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"functional_labels": [
|
| 1094 |
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"side grasp area",
|
| 1095 |
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"support structure",
|
| 1096 |
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"absorb cleaning liquid",
|
| 1097 |
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"provide wiping edge"
|
| 1098 |
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],
|
| 1099 |
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"semantic_description": "Blue foam side face with a matte soft open-cell texture, visible rounded pores, and a rectangular end panel forming the opposite short end of the sponge.",
|
| 1100 |
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"id": 2,
|
| 1101 |
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"grasp_group": {
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| 1102 |
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]
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}
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},
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0.0005962756840744987
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],
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|
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0.20584536327436032,
|
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|
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]
|
| 1164 |
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}
|
| 1165 |
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},
|
| 1166 |
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"grasp_58": {
|
| 1167 |
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|
| 1168 |
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| 1169 |
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-0.09682794800028205,
|
| 1170 |
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0.0029466761043295264,
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0.05042588339711074
|
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],
|
| 1173 |
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| 1175 |
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]
|
| 1180 |
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}
|
| 1181 |
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},
|
| 1182 |
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|
| 1183 |
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|
| 1184 |
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|
| 1185 |
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-0.09513323893770576,
|
| 1186 |
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0.005439951899461448,
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| 1187 |
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0.05610337482357863
|
| 1188 |
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],
|
| 1189 |
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"orientation": {
|
| 1190 |
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|
| 1191 |
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| 1192 |
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0.6209055918599102,
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| 1193 |
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0.6074957965948279,
|
| 1194 |
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0.3511661185469897
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]
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| 1196 |
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}
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| 1197 |
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}
|
| 1198 |
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}
|
| 1199 |
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}
|
| 1200 |
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],
|
| 1201 |
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"quality_check": {
|
| 1202 |
+
"success": false,
|
| 1203 |
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"message": "Bottom face color/material misdescribed; foam is brighter blue and not open-cell. Pressing surface as grasp scenario is not a grasp."
|
| 1204 |
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}
|
| 1205 |
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}
|
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20817a9ef29e645d847166ee69f3c48d708a7fd4991b51bf75b9bc3f8230c429
|
| 3 |
+
size 3771260
|