Add asset bathroom_supplies/bath_products/56e20a190dab5969896160880f339259
Browse files
.gitattributes
CHANGED
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@@ -5604,3 +5604,4 @@ dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/afforda
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| 5604 |
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5605 |
dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5606 |
dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5604 |
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5605 |
dataset/bathroom_supplies/bath_products/577c72760f9b59f6a6a7febe744cdc5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5606 |
dataset/bathroom_supplies/bath_products/56b0b809527259a496d0bb5212e0a1ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5607 |
+
dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,577 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tube body at the middle to pick up and move the cleanser",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the tube body to dispense cleanser through the cap opening",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube body while the other gripper manipulates the cap",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain cleanser",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support squeezing for dispensing",
|
| 25 |
+
"connect cap and sealed top",
|
| 26 |
+
"provide product branding area"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered white plastic tube body with a mostly matte smooth surface, slightly flexible feel, rounded rectangular profile, central position, and red printed logo on the front.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9781217575073242,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.034571009455248713,
|
| 35 |
+
0.10094803269021213,
|
| 36 |
+
-0.027708696201443672
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.12500196988149054,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.11412509617534734,
|
| 42 |
+
0.6728869796321838,
|
| 43 |
+
-0.7201201862121295
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9781135320663452,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.035008667735382915,
|
| 51 |
+
0.10134613211266696,
|
| 52 |
+
-0.025063680484890938
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.12174946525908222,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.1340986691745413,
|
| 58 |
+
0.6880087052590189,
|
| 59 |
+
-0.7027365339318518
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9768323302268982,
|
| 65 |
+
"position": [
|
| 66 |
+
0.07024925318546593,
|
| 67 |
+
-0.08086335216648877,
|
| 68 |
+
-0.022512027993798256
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.23034778614420834,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.25402399183200014,
|
| 74 |
+
-0.6640128131374744,
|
| 75 |
+
-0.664453680087224
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_6": {
|
| 80 |
+
"confidence": 0.9763706922531128,
|
| 81 |
+
"position": [
|
| 82 |
+
0.01979699288494885,
|
| 83 |
+
-0.1051225617993623,
|
| 84 |
+
-0.025849102064967155
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6982943014169667,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7095567079167208,
|
| 90 |
+
-0.07491831590504772,
|
| 91 |
+
0.05745948834550738
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_9": {
|
| 96 |
+
"confidence": 0.9754424691200256,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.018089630408212543,
|
| 99 |
+
0.10344580258242786,
|
| 100 |
+
-0.019340094178915024
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.07847393840683126,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.06751924764644367,
|
| 106 |
+
0.6935722976124565,
|
| 107 |
+
-0.7129098541700462
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_10": {
|
| 112 |
+
"confidence": 0.9753543138504028,
|
| 113 |
+
"position": [
|
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| 524 |
+
},
|
| 525 |
+
"grasp_39": {
|
| 526 |
+
"confidence": 0.9384297728538513,
|
| 527 |
+
"position": [
|
| 528 |
+
-0.029257003916427493,
|
| 529 |
+
0.10144731099717319,
|
| 530 |
+
-0.06248886324465275
|
| 531 |
+
],
|
| 532 |
+
"orientation": {
|
| 533 |
+
"w": 0.0803514903971633,
|
| 534 |
+
"xyz": [
|
| 535 |
+
-0.12602890724782997,
|
| 536 |
+
0.6769473729587757,
|
| 537 |
+
-0.7206959183824231
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
}
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
{
|
| 544 |
+
"part_name": "top crimp seal",
|
| 545 |
+
"mask_color": "Orange",
|
| 546 |
+
"graspable": false,
|
| 547 |
+
"grasp_scenarios": [],
|
| 548 |
+
"functional_labels": [
|
| 549 |
+
"seal filled tube end",
|
| 550 |
+
"retain contents",
|
| 551 |
+
"indicate top boundary",
|
| 552 |
+
"provide manufacturing closure"
|
| 553 |
+
],
|
| 554 |
+
"semantic_description": "Thin light pink crimped plastic seam along the narrow top edge, with a ribbed sealed finish, hard smooth feel, and small elongated shape at the tube's upper end.",
|
| 555 |
+
"id": 4,
|
| 556 |
+
"grasp_group": {}
|
| 557 |
+
},
|
| 558 |
+
{
|
| 559 |
+
"part_name": "front label print",
|
| 560 |
+
"mask_color": "Magenta",
|
| 561 |
+
"graspable": false,
|
| 562 |
+
"grasp_scenarios": [],
|
| 563 |
+
"functional_labels": [
|
| 564 |
+
"display branding",
|
| 565 |
+
"identify product front",
|
| 566 |
+
"provide visual orientation"
|
| 567 |
+
],
|
| 568 |
+
"semantic_description": "Small red printed logo on the front of the white tube body, appearing as smooth flat ink markings centered on the upper-middle area.",
|
| 569 |
+
"id": 7,
|
| 570 |
+
"grasp_group": {}
|
| 571 |
+
}
|
| 572 |
+
],
|
| 573 |
+
"quality_check": {
|
| 574 |
+
"success": true,
|
| 575 |
+
"message": "YES"
|
| 576 |
+
}
|
| 577 |
+
}
|
dataset/bathroom_supplies/bath_products/56e20a190dab5969896160880f339259/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e3bc3d124081bc5277776fb16173235016b9c11fb926c19e690562a3656616dd
|
| 3 |
+
size 37321828
|