Add asset bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/affordance_annot.json +398 -0
- dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_cleanser_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -5662,3 +5662,4 @@ dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/afforda
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| 5662 |
dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5663 |
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5664 |
dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5662 |
dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5663 |
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5664 |
dataset/bathroom_supplies/bath_products/aa563e8bdcef55bcaee08fcd3cd222ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5665 |
+
dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,398 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump nozzle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pump nozzle to rotate or align the dispenser head",
|
| 10 |
+
"confidence": 0.46
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the pump nozzle to pull or manipulate the head during opening or maintenance",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense cleanser",
|
| 19 |
+
"direct output flow",
|
| 20 |
+
"provide press surface",
|
| 21 |
+
"indicate dispensing direction"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small black plastic pump head with a smooth matte-to-satin finish and gently curved spout shape, mounted on top and sized as the finger-pressing dispensing surface.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_18": {
|
| 27 |
+
"confidence": 0.2963174879550934,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.025166134495520964,
|
| 30 |
+
-0.047591768321581185,
|
| 31 |
+
0.14542828426056076
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.27683878983414206,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.7252086668850997,
|
| 37 |
+
0.6275589084893136,
|
| 38 |
+
0.06002074885908766
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"part_name": "pump collar",
|
| 46 |
+
"mask_color": "Green",
|
| 47 |
+
"graspable": false,
|
| 48 |
+
"grasp_scenarios": [],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"connect pump to bottle",
|
| 51 |
+
"secure dispenser assembly",
|
| 52 |
+
"seal bottle opening",
|
| 53 |
+
"support pump head"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Thin black plastic ring at the bottle neck with a smooth slightly glossy finish, hard texture, and small cylindrical shape seated directly beneath the pump head.",
|
| 56 |
+
"id": 1,
|
| 57 |
+
"grasp_group": {}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"part_name": "cleanser bottle body",
|
| 61 |
+
"mask_color": "Cyan",
|
| 62 |
+
"graspable": true,
|
| 63 |
+
"grasp_scenarios": [
|
| 64 |
+
{
|
| 65 |
+
"scenario": "grasp the bottle body from the sides to pick up the cleanser",
|
| 66 |
+
"confidence": 0.94
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"scenario": "hold the bottle body steady while pressing the pump with another manipulator",
|
| 70 |
+
"confidence": 0.91
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"scenario": "grasp the bottle body to reposition or place it on a surface",
|
| 74 |
+
"confidence": 0.92
|
| 75 |
+
}
|
| 76 |
+
],
|
| 77 |
+
"functional_labels": [
|
| 78 |
+
"contain cleanser",
|
| 79 |
+
"main grasp surface",
|
| 80 |
+
"support standing",
|
| 81 |
+
"provide label area",
|
| 82 |
+
"stabilize during dispensing"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "Medium-sized faceted black-and-white plastic bottle with a glossy smooth hard surface, angular asymmetrical shape, and printed front label text on the central body.",
|
| 85 |
+
"id": 6,
|
| 86 |
+
"grasp_group": {
|
| 87 |
+
"grasp_20": {
|
| 88 |
+
"confidence": 0.9908961653709412,
|
| 89 |
+
"position": [
|
| 90 |
+
0.0004850004625041038,
|
| 91 |
+
0.11795822146814317,
|
| 92 |
+
-0.016099500280688517
|
| 93 |
+
],
|
| 94 |
+
"orientation": {
|
| 95 |
+
"w": 0.02375481909715853,
|
| 96 |
+
"xyz": [
|
| 97 |
+
0.012815809869664083,
|
| 98 |
+
-0.7185069826012352,
|
| 99 |
+
0.6949958126063168
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"grasp_21": {
|
| 104 |
+
"confidence": 0.9904532432556152,
|
| 105 |
+
"position": [
|
| 106 |
+
-0.010064528469229117,
|
| 107 |
+
0.11574960115831345,
|
| 108 |
+
-0.021618435901473276
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
+
"w": 0.02910711200081171,
|
| 112 |
+
"xyz": [
|
| 113 |
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-0.04561129467897623,
|
| 114 |
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0.7095814184107934,
|
| 115 |
+
-0.7025429499146699
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_22": {
|
| 120 |
+
"confidence": 0.9901726245880127,
|
| 121 |
+
"position": [
|
| 122 |
+
0.0014578995469491929,
|
| 123 |
+
0.11612656328361481,
|
| 124 |
+
-0.04652597084350418
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.022012198851820253,
|
| 128 |
+
"xyz": [
|
| 129 |
+
0.012514979308754457,
|
| 130 |
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-0.7083745302367451,
|
| 131 |
+
0.7053824234459493
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_23": {
|
| 136 |
+
"confidence": 0.9896901845932007,
|
| 137 |
+
"position": [
|
| 138 |
+
0.004772355634486303,
|
| 139 |
+
0.11485354963224381,
|
| 140 |
+
-0.0535328693658812
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
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"w": 0.017928906661173135,
|
| 144 |
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"xyz": [
|
| 145 |
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0.006219782362089002,
|
| 146 |
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-0.6698447114844087,
|
| 147 |
+
0.7422586685985368
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_24": {
|
| 152 |
+
"confidence": 0.9893458485603333,
|
| 153 |
+
"position": [
|
| 154 |
+
0.00024094144464470446,
|
| 155 |
+
0.12036896857898682,
|
| 156 |
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-0.04184402599639725
|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.7027780711830955,
|
| 160 |
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"xyz": [
|
| 161 |
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0.7113611385596005,
|
| 162 |
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-0.008255441894381432,
|
| 163 |
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-0.00040111156169716974
|
| 164 |
+
]
|
| 165 |
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}
|
| 166 |
+
},
|
| 167 |
+
"grasp_25": {
|
| 168 |
+
"confidence": 0.989261269569397,
|
| 169 |
+
"position": [
|
| 170 |
+
0.0004163109988439828,
|
| 171 |
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0.11624048266094178,
|
| 172 |
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-0.04754517301626038
|
| 173 |
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],
|
| 174 |
+
"orientation": {
|
| 175 |
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"w": 0.013400108940153295,
|
| 176 |
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"xyz": [
|
| 177 |
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0.018442077189248705,
|
| 178 |
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-0.7089647405965804,
|
| 179 |
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0.7048753956978216
|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
+
"grasp_26": {
|
| 184 |
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"confidence": 0.9892420172691345,
|
| 185 |
+
"position": [
|
| 186 |
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0.004359420243417844,
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dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 3779396
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dataset/bathroom_supplies/bath_products/aa5e5e37504b5232b6edcd5c918ca78b/facial_cleanser_007.urdf
CHANGED
|
@@ -54,6 +54,7 @@
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|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 55 |
</geometry>
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| 56 |
</visual_seg>
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</geometry>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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</affordance>
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<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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