Add asset bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/affordance_annot.json +309 -0
- dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.urdf +1 -0
.gitattributes
CHANGED
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@@ -5693,3 +5693,4 @@ dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/afforda
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| 5693 |
dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5694 |
dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5695 |
dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5693 |
dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5694 |
dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5695 |
dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5696 |
+
dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,309 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sponge body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sponge body from the sides to pick it up",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sponge body to scrub a surface",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the sponge body to expel water or soap",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main cleaning surface",
|
| 23 |
+
"absorb water or soap",
|
| 24 |
+
"support squeezing",
|
| 25 |
+
"provide main grasp area",
|
| 26 |
+
"conform to surfaces"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large pale mint-green foam body with a matte soft porous texture, rounded clover-like outline, and thick cushioned form making up nearly the entire sponge.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9796215295791626,
|
| 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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| 37 |
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],
|
| 38 |
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"orientation": {
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| 39 |
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"w": 0.4870390885845755,
|
| 40 |
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"xyz": [
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_3": {
|
| 48 |
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"confidence": 0.9779762625694275,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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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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| 56 |
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| 59 |
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| 60 |
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| 61 |
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|
| 62 |
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},
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| 63 |
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"grasp_5": {
|
| 64 |
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"confidence": 0.9776985049247742,
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"grasp_6": {
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| 93 |
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},
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| 95 |
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"grasp_7": {
|
| 96 |
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"confidence": 0.9776225686073303,
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"position": [
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"grasp_9": {
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-0.006341156898997724
|
| 229 |
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],
|
| 230 |
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"orientation": {
|
| 231 |
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"w": 0.5181739037746037,
|
| 232 |
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"xyz": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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-0.4979599926448068
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
+
},
|
| 239 |
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"grasp_17": {
|
| 240 |
+
"confidence": 0.9767934083938599,
|
| 241 |
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"position": [
|
| 242 |
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-0.03299298949423246,
|
| 243 |
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|
| 244 |
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-0.0004032921278849244
|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.568823956389641,
|
| 248 |
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"xyz": [
|
| 249 |
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|
| 250 |
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|
| 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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"grasp_18": {
|
| 256 |
+
"confidence": 0.9763204455375671,
|
| 257 |
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"position": [
|
| 258 |
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|
| 259 |
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|
| 260 |
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-0.018200518912635744
|
| 261 |
+
],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.5349595524697723,
|
| 264 |
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"xyz": [
|
| 265 |
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|
| 266 |
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|
| 267 |
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0.5399780853427772
|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
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"grasp_19": {
|
| 272 |
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"confidence": 0.9761965274810791,
|
| 273 |
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"position": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.027507604266846022,
|
| 280 |
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"xyz": [
|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "scrubbing insert",
|
| 291 |
+
"mask_color": "Yellow",
|
| 292 |
+
"graspable": false,
|
| 293 |
+
"grasp_scenarios": [],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"provide abrasive scrubbing",
|
| 296 |
+
"loosen stuck residue",
|
| 297 |
+
"increase cleaning friction",
|
| 298 |
+
"target narrow crevices"
|
| 299 |
+
],
|
| 300 |
+
"semantic_description": "Cluster of olive-green wavy strip-like scrubber elements recessed in the top center, appearing flexible and slightly rougher than the foam body with thin finger-like protrusions.",
|
| 301 |
+
"id": 3,
|
| 302 |
+
"grasp_group": {}
|
| 303 |
+
}
|
| 304 |
+
],
|
| 305 |
+
"quality_check": {
|
| 306 |
+
"success": true,
|
| 307 |
+
"message": "YES"
|
| 308 |
+
}
|
| 309 |
+
}
|
dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1ef09fdc66cd19261c23944249c9a3ae273b8851303b31014a7ad4a011003479
|
| 3 |
+
size 3779500
|
dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/sponge_010.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|