Add asset bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62
Browse files
.gitattributes
CHANGED
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@@ -5558,3 +5558,4 @@ dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/afforda
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| 5558 |
dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5558 |
dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5559 |
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5560 |
dataset/bathroom_supplies/bath_products/16b928f7ae1559068ec8c4f32c480d3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5561 |
+
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,647 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the dispenser",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the bottle by gripping the sidewalls",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain sanitizer liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large translucent light-blue plastic bottle body with a glossy smooth hard surface, rounded rectangular shape with gently tapered shoulders, forming the main lower portion of the dispenser.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.7864521145820618,
|
| 32 |
+
"position": [
|
| 33 |
+
0.012459302844945341,
|
| 34 |
+
0.10273472499102354,
|
| 35 |
+
0.04499160312116146
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.7176455791536285,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6946835567303308,
|
| 41 |
+
-0.019048582343030862,
|
| 42 |
+
-0.04513014780023819
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.7743825316429138,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.010579024848993868,
|
| 50 |
+
-0.10220661479979753,
|
| 51 |
+
0.04437162168323994
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.722274874086058,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6896962807037905,
|
| 57 |
+
0.03717942361159765,
|
| 58 |
+
-0.035436381125012156
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.763763427734375,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.10049963224446401,
|
| 66 |
+
0.013965360820293427,
|
| 67 |
+
0.05160200782120228
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.46038453374771865,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.4629039199406411,
|
| 73 |
+
0.5473459334323049,
|
| 74 |
+
-0.5236205411790146
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.745559811592102,
|
| 80 |
+
"position": [
|
| 81 |
+
0.08098905306542292,
|
| 82 |
+
-0.062389240600168705,
|
| 83 |
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| 502 |
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| 503 |
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| 504 |
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| 505 |
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| 516 |
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| 517 |
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| 518 |
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| 519 |
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|
| 520 |
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| 521 |
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|
| 522 |
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| 523 |
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| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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| 528 |
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| 529 |
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| 534 |
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| 535 |
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|
| 536 |
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| 537 |
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| 540 |
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|
| 541 |
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| 542 |
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| 543 |
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| 544 |
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|
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| 547 |
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|
| 548 |
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|
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|
| 550 |
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},
|
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|
| 552 |
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|
| 553 |
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| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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],
|
| 558 |
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"orientation": {
|
| 559 |
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|
| 560 |
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|
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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},
|
| 567 |
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|
| 568 |
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|
| 569 |
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"position": [
|
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|
| 571 |
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|
| 572 |
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|
| 573 |
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],
|
| 574 |
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"orientation": {
|
| 575 |
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|
| 576 |
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| 577 |
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0.07190891333043235,
|
| 578 |
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|
| 579 |
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|
| 580 |
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]
|
| 581 |
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}
|
| 582 |
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}
|
| 583 |
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}
|
| 584 |
+
},
|
| 585 |
+
{
|
| 586 |
+
"part_name": "pump collar",
|
| 587 |
+
"mask_color": "Blue",
|
| 588 |
+
"graspable": false,
|
| 589 |
+
"grasp_scenarios": [],
|
| 590 |
+
"functional_labels": [
|
| 591 |
+
"mount pump assembly",
|
| 592 |
+
"connect pump to bottle",
|
| 593 |
+
"stabilize top assembly",
|
| 594 |
+
"seal bottle neck"
|
| 595 |
+
],
|
| 596 |
+
"semantic_description": "Short white plastic neck collar with a glossy ribbed surface around the bottle opening, sitting above the bottle shoulder and below the pump head.",
|
| 597 |
+
"id": 2,
|
| 598 |
+
"grasp_group": {}
|
| 599 |
+
},
|
| 600 |
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{
|
| 601 |
+
"part_name": "neck ring",
|
| 602 |
+
"mask_color": "Yellow",
|
| 603 |
+
"graspable": false,
|
| 604 |
+
"grasp_scenarios": [],
|
| 605 |
+
"functional_labels": [
|
| 606 |
+
"connect collar to pump stem",
|
| 607 |
+
"space top components",
|
| 608 |
+
"help secure dispenser head"
|
| 609 |
+
],
|
| 610 |
+
"semantic_description": "Thin white plastic ring with a smooth glossy finish encircling the top opening between the larger collar and the pump stem.",
|
| 611 |
+
"id": 3,
|
| 612 |
+
"grasp_group": {}
|
| 613 |
+
},
|
| 614 |
+
{
|
| 615 |
+
"part_name": "pump stem",
|
| 616 |
+
"mask_color": "Purple",
|
| 617 |
+
"graspable": false,
|
| 618 |
+
"grasp_scenarios": [],
|
| 619 |
+
"functional_labels": [
|
| 620 |
+
"transmit pump motion",
|
| 621 |
+
"connect head to pump mechanism",
|
| 622 |
+
"guide vertical actuation"
|
| 623 |
+
],
|
| 624 |
+
"semantic_description": "Very small white cylindrical plastic stem with a smooth glossy surface, centered under the pump head and mostly enclosed by the top assembly.",
|
| 625 |
+
"id": 5,
|
| 626 |
+
"grasp_group": {}
|
| 627 |
+
},
|
| 628 |
+
{
|
| 629 |
+
"part_name": "pump outlet tip",
|
| 630 |
+
"mask_color": "Cyan",
|
| 631 |
+
"graspable": false,
|
| 632 |
+
"grasp_scenarios": [],
|
| 633 |
+
"functional_labels": [
|
| 634 |
+
"release sanitizer",
|
| 635 |
+
"define dispensing direction",
|
| 636 |
+
"form nozzle opening"
|
| 637 |
+
],
|
| 638 |
+
"semantic_description": "Tiny white plastic nozzle tip at the front end of the curved pump spout, with a smooth glossy hard finish and minimal protrusion.",
|
| 639 |
+
"id": 6,
|
| 640 |
+
"grasp_group": {}
|
| 641 |
+
}
|
| 642 |
+
],
|
| 643 |
+
"quality_check": {
|
| 644 |
+
"success": true,
|
| 645 |
+
"message": "YES"
|
| 646 |
+
}
|
| 647 |
+
}
|
dataset/bathroom_supplies/bath_products/16507d68fb275b19aac973a5caa4ae62/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fb384e5721ee1e708f30091587ef233a3b9108dabd9bb7abe7d57361f71af4ff
|
| 3 |
+
size 37328444
|