Add asset bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/affordance/affordance_annot.json +685 -0
- dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -5576,3 +5576,4 @@ dataset/bathroom_supplies/bath_products/2739ebf988515ed9946b2676a154b9d5/afforda
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| 5576 |
dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5577 |
dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5578 |
dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5576 |
dataset/bathroom_supplies/bath_products/2790261681a958adbaadcc6ebf59814a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5577 |
dataset/bathroom_supplies/bath_products/2a6f84a4b1f05ceb8a16187f956152a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5578 |
dataset/bathroom_supplies/bath_products/27503a2964985f94bb02b58a09a4468a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5579 |
+
dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,685 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pump head to rotate or unlock the dispenser",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the pump head to stabilize it while repositioning the bottle",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense lotion when pressed",
|
| 19 |
+
"provide a press surface",
|
| 20 |
+
"direct lotion outflow",
|
| 21 |
+
"enable pump actuation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small light gray plastic pump head with a smooth satin finish and rounded spout shape, located at the top and sized for finger pressing.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.8961119651794434,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.02071911227540113,
|
| 30 |
+
-0.10565711847448256,
|
| 31 |
+
0.17708833888173103
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.05678822676238851,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.11296066271214758,
|
| 37 |
+
0.8375889075655566,
|
| 38 |
+
0.5314694797483235
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.8902372121810913,
|
| 44 |
+
"position": [
|
| 45 |
+
0.029337209271034226,
|
| 46 |
+
-0.0643594740977278,
|
| 47 |
+
0.21464139595627785
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.23771288821275655,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.9441804680769543,
|
| 53 |
+
0.1421172667460709,
|
| 54 |
+
0.1783774340328928
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
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"grasp_3": {
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}
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},
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{
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"part_name": "neck ring",
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| 597 |
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"mask_color": "Lime Green",
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|
| 599 |
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|
| 600 |
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"functional_labels": [
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| 603 |
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"provide sealing interface"
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],
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"semantic_description": "Thin ring encircling the neck just below the collar, visible as a narrow band at the top of the white bottle body.",
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"id": 9,
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},
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{
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"part_name": "bottle body",
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{
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"scenario": "grasp the bottle body to pick up and move the lotion bottle",
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},
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{
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"scenario": "hold the bottle body while pressing the pump with another manipulator",
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"confidence": 0.9
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},
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{
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"scenario": "grasp the bottle body to orient the dispenser toward a target hand or surface",
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"confidence": 0.86
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}
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],
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"contain lotion",
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"main grasp surface",
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"support the dispenser",
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| 631 |
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"provide product storage"
|
| 632 |
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],
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"semantic_description": "Large white opaque plastic bottle body with a smooth satin surface, rounded flattened oval shape, and printed front label graphics including dark text and a brown almond-like image on the front.",
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"id": 6,
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"grasp_group": {}
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},
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{
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"part_name": "front label text",
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"mask_color": "Blue",
|
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"graspable": false,
|
| 641 |
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"grasp_scenarios": [],
|
| 642 |
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"functional_labels": [
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"identify product",
|
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"display branding",
|
| 645 |
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"provide usage information",
|
| 646 |
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"indicate product type"
|
| 647 |
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],
|
| 648 |
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"semantic_description": "Printed dark blue to black text and lettering on the front label area of the white bottle, appearing as flat smooth markings integrated into the surface.",
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| 649 |
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"id": 2,
|
| 650 |
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"grasp_group": {}
|
| 651 |
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},
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{
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"part_name": "almond graphic",
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"mask_color": "Green",
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|
| 656 |
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"grasp_scenarios": [],
|
| 657 |
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"functional_labels": [
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| 658 |
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"decorate packaging",
|
| 659 |
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"indicate ingredient or scent",
|
| 660 |
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"aid product identification"
|
| 661 |
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],
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| 662 |
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"semantic_description": "Brown almond-shaped printed graphic on the front label area, flat and smooth against the bottle surface near the lower right of the front.",
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| 663 |
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"id": 1,
|
| 664 |
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"grasp_group": {}
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| 665 |
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},
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| 666 |
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{
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| 667 |
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"part_name": "accent graphic",
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| 668 |
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"mask_color": "Orange",
|
| 669 |
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"graspable": false,
|
| 670 |
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"grasp_scenarios": [],
|
| 671 |
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"functional_labels": [
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"decorate packaging",
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| 673 |
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"highlight branding",
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| 674 |
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"provide visual contrast"
|
| 675 |
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],
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| 676 |
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"semantic_description": "Small orange curved printed accent marks on the bottle label/body area, appearing as flat smooth decorative graphics near the lower regions.",
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| 677 |
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"id": 4,
|
| 678 |
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"grasp_group": {}
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}
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],
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| 681 |
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"quality_check": {
|
| 682 |
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"success": false,
|
| 683 |
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"message": "Mask colors and descriptions mismatch visible label parts; orange accent location/color wrong; green graphic not almond-shaped in mask."
|
| 684 |
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}
|
| 685 |
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}
|
dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e9e0e6f3ba0508a7f92cc06d57da54ce27803f40ce9b0cc417df905e7ce24cd8
|
| 3 |
+
size 3798120
|
dataset/bathroom_supplies/bath_products/2bbf29e29345581c96858513e1d0cf70/lotion_015.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|