Add asset bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1
Browse files
.gitattributes
CHANGED
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@@ -5634,3 +5634,4 @@ dataset/bathroom_supplies/bath_products/81a86cff6e2e5101a9a94e1415e48b9f/afforda
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| 5634 |
dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5635 |
dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5636 |
dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5634 |
dataset/bathroom_supplies/bath_products/822f7a3240135d90b768a37b7ba3217d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5635 |
dataset/bathroom_supplies/bath_products/7e3e2fa8704e56ceb3ee9fb36e53a3eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5636 |
dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5637 |
+
dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1369 @@
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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 align the dispenser for unlocking or orientation adjustment",
|
| 10 |
+
"confidence": 0.43
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the pump head to stabilize the bottle while another tool manipulates the neck",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense lotion when pressed",
|
| 19 |
+
"provide nozzle outlet",
|
| 20 |
+
"indicate dispensing direction",
|
| 21 |
+
"cover the pump mechanism"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small white plastic pump head with a smooth semi-gloss finish and rounded curved spout, positioned at the very top and projecting sideways as the dispenser outlet.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9679442048072815,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.006377615558449179,
|
| 30 |
+
0.08457937321509235,
|
| 31 |
+
0.17178845405578613
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5001866833885185,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8623866230642493,
|
| 37 |
+
0.07542246900541139,
|
| 38 |
+
0.020348102854127678
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9667514562606812,
|
| 44 |
+
"position": [
|
| 45 |
+
0.04568193055456504,
|
| 46 |
+
0.07321682057227008,
|
| 47 |
+
0.16638734936714172
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5034252987889635,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8293840489501859,
|
| 53 |
+
-0.18653992314316625,
|
| 54 |
+
-0.1545571899329832
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9666693806648254,
|
| 60 |
+
"position": [
|
| 61 |
+
0.024987162498291582,
|
| 62 |
+
0.07817856452311389,
|
| 63 |
+
0.1818746030330658
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.05543329297125535,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.13954368075434737,
|
| 69 |
+
-0.8616549479060558,
|
| 70 |
+
0.484773619270793
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9663836359977722,
|
| 76 |
+
"position": [
|
| 77 |
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0.04228646255796775,
|
| 78 |
+
0.08003128549898975,
|
| 79 |
+
0.1650240570306778
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.1248244251967764,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.22602806269191875,
|
| 85 |
+
-0.8257868796173641,
|
| 86 |
+
0.5014042353250011
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9641479849815369,
|
| 92 |
+
"position": [
|
| 93 |
+
0.03088454290991649,
|
| 94 |
+
0.09539449444855563,
|
| 95 |
+
0.11948266625404358
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.09239583909541454,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.12210838462270616,
|
| 101 |
+
-0.7018753200739446,
|
| 102 |
+
0.6956461646510997
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.9638044834136963,
|
| 108 |
+
"position": [
|
| 109 |
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-0.06459969334537163,
|
| 110 |
+
0.0535220415040385,
|
| 111 |
+
0.1730966567993164
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.24326168954280067,
|
| 115 |
+
"xyz": [
|
| 116 |
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-0.31073866414044815,
|
| 117 |
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0.8092550607818113,
|
| 118 |
+
-0.43516833479473094
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_7": {
|
| 123 |
+
"confidence": 0.9636406898498535,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.058081836032215506,
|
| 126 |
+
0.056504873995436355,
|
| 127 |
+
0.17551414668560028
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.1963728906921777,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.3550679644462548,
|
| 133 |
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0.7944649666429163,
|
| 134 |
+
-0.4518737049245747
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_9": {
|
| 139 |
+
"confidence": 0.9616366028785706,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.022560880111996084,
|
| 142 |
+
0.07709699354018085,
|
| 143 |
+
0.17722150683403015
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.06978587629600493,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.13208667592280232,
|
| 149 |
+
0.8627099326337275,
|
| 150 |
+
-0.4831300173331944
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_10": {
|
| 155 |
+
"confidence": 0.9613831043243408,
|
| 156 |
+
"position": [
|
| 157 |
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-0.02576303534442559,
|
| 158 |
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0.07510083398665302,
|
| 159 |
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0.18002358078956604
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
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"w": 0.07548270240736343,
|
| 163 |
+
"xyz": [
|
| 164 |
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-0.14478961805762053,
|
| 165 |
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0.8636736041759976,
|
| 166 |
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],
|
| 1365 |
+
"quality_check": {
|
| 1366 |
+
"success": true,
|
| 1367 |
+
"message": "YES"
|
| 1368 |
+
}
|
| 1369 |
+
}
|
dataset/bathroom_supplies/bath_products/83d6b64f510e5d948dca689513291bb1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4519ff91cf9ee500d7aa8b74dd3d39fa4fbf353d080eeab8e04c8dc39c00fd3
|
| 3 |
+
size 3785436
|