Add asset bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12
Browse files
.gitattributes
CHANGED
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@@ -5591,3 +5591,4 @@ dataset/bathroom_supplies/bath_products/36f66d7f68f65bf6abd1906f76af6de7/afforda
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| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5593 |
dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5591 |
dataset/bathroom_supplies/bath_products/3d39e093f0e05180a59e1d5a42a55e52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5592 |
dataset/bathroom_supplies/bath_products/3e561e66772f5fddb529c9bb3b0ab6fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5593 |
dataset/bathroom_supplies/bath_products/3f9689ecf5ab547a820e5e2b4849a455/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5594 |
+
dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,458 @@
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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 sanitizer bottle",
|
| 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": "grasp the bottle body to reorient the dispenser on a surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain sanitizer liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stabilize upright placement"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded bottle body made of translucent mint-green plastic with a smooth glossy surface, forming the main lower container and showing small dark printed text/logo on one side.",
|
| 29 |
+
"id": 8,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.7693006992340088,
|
| 33 |
+
"position": [
|
| 34 |
+
0.08007438393542543,
|
| 35 |
+
0.05931716476334259,
|
| 36 |
+
0.0494441669434309
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6044486174221632,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.6462194234170153,
|
| 42 |
+
-0.32802485283278604,
|
| 43 |
+
-0.33082022552898027
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9661765694618225,
|
| 49 |
+
"position": [
|
| 50 |
+
0.004322114458773285,
|
| 51 |
+
-0.10484511341201141,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
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"w": 0.6523101174557575,
|
| 56 |
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"xyz": [
|
| 57 |
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|
| 58 |
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-0.02137155794881107,
|
| 59 |
+
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
+
"grasp_22": {
|
| 64 |
+
"confidence": 0.9700512290000916,
|
| 65 |
+
"position": [
|
| 66 |
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-0.00320597825339064,
|
| 67 |
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-0.10603152896510437,
|
| 68 |
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0.045784709975123405
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
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"w": 0.019652008572903626,
|
| 72 |
+
"xyz": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_23": {
|
| 80 |
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"confidence": 0.7208371758460999,
|
| 81 |
+
"position": [
|
| 82 |
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|
| 83 |
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|
| 84 |
+
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|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5439095349584498,
|
| 88 |
+
"xyz": [
|
| 89 |
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|
| 90 |
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-0.3733483909656621,
|
| 91 |
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-0.32988242189681205
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_24": {
|
| 96 |
+
"confidence": 0.9394593238830566,
|
| 97 |
+
"position": [
|
| 98 |
+
0.03966915520140901,
|
| 99 |
+
-0.09814138646470383,
|
| 100 |
+
0.06863297335803509
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5987183693926392,
|
| 104 |
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"xyz": [
|
| 105 |
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-0.7678947398727661,
|
| 106 |
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-0.171708374227874,
|
| 107 |
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0.1496336086832636
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_25": {
|
| 112 |
+
"confidence": 0.9345566034317017,
|
| 113 |
+
"position": [
|
| 114 |
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-0.028374995046760887,
|
| 115 |
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-0.10490325774298981,
|
| 116 |
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0.019567557610571384
|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.14043893419599351,
|
| 120 |
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"xyz": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_26": {
|
| 128 |
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"confidence": 0.8551046252250671,
|
| 129 |
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"position": [
|
| 130 |
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-0.028137612098362297,
|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
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| 135 |
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"w": 0.1896167182763786,
|
| 136 |
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"xyz": [
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
+
},
|
| 143 |
+
"grasp_27": {
|
| 144 |
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"confidence": 0.9648963212966919,
|
| 145 |
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"position": [
|
| 146 |
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-0.0006152917630970478,
|
| 147 |
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-0.10899116034852341,
|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.6950267161917695,
|
| 152 |
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"xyz": [
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_28": {
|
| 160 |
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"confidence": 0.9349854588508606,
|
| 161 |
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"position": [
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.05230537736310993,
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{
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{
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{
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},
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{
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"scenario": "lightly pinch the nozzle to help unlock or free a stuck pump during setup",
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],
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],
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}
|
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}
|
| 397 |
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},
|
| 398 |
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{
|
| 399 |
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"part_name": "pump stem",
|
| 400 |
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"mask_color": "Cyan",
|
| 401 |
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"graspable": false,
|
| 402 |
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"grasp_scenarios": [],
|
| 403 |
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"functional_labels": [
|
| 404 |
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"connect pump head to mechanism",
|
| 405 |
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"guide vertical pump motion",
|
| 406 |
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"transfer dispensing force"
|
| 407 |
+
],
|
| 408 |
+
"semantic_description": "Short narrow white plastic stem with a smooth glossy surface, centered below the pump head and linking it to the collar.",
|
| 409 |
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"id": 6,
|
| 410 |
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"grasp_group": {}
|
| 411 |
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},
|
| 412 |
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{
|
| 413 |
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"part_name": "pump collar",
|
| 414 |
+
"mask_color": "Blue",
|
| 415 |
+
"graspable": false,
|
| 416 |
+
"grasp_scenarios": [],
|
| 417 |
+
"functional_labels": [
|
| 418 |
+
"mount pump assembly",
|
| 419 |
+
"secure pump to bottle neck",
|
| 420 |
+
"stabilize top connection"
|
| 421 |
+
],
|
| 422 |
+
"semantic_description": "Ring-like white plastic collar with a smooth glossy finish around the bottle neck, positioned beneath the pump stem.",
|
| 423 |
+
"id": 2,
|
| 424 |
+
"grasp_group": {}
|
| 425 |
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},
|
| 426 |
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{
|
| 427 |
+
"part_name": "bottle neck",
|
| 428 |
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"mask_color": "Green",
|
| 429 |
+
"graspable": false,
|
| 430 |
+
"grasp_scenarios": [],
|
| 431 |
+
"functional_labels": [
|
| 432 |
+
"connect bottle body to pump assembly",
|
| 433 |
+
"support pump collar",
|
| 434 |
+
"form the upper bottle opening"
|
| 435 |
+
],
|
| 436 |
+
"semantic_description": "Small mint-green plastic neck section with a smooth glossy surface, located between the main bottle body and the white collar as the upper connection point.",
|
| 437 |
+
"id": 1,
|
| 438 |
+
"grasp_group": {}
|
| 439 |
+
},
|
| 440 |
+
{
|
| 441 |
+
"part_name": "shoulder seam band",
|
| 442 |
+
"mask_color": "Lime Green",
|
| 443 |
+
"graspable": false,
|
| 444 |
+
"grasp_scenarios": [],
|
| 445 |
+
"functional_labels": [
|
| 446 |
+
"visual transition between neck area and bottle body",
|
| 447 |
+
"part boundary seam"
|
| 448 |
+
],
|
| 449 |
+
"semantic_description": "Thin narrow pale band visible around the top shoulder of the bottle, appearing as a slim ring between the white collar/neck area and the mint-green bottle body.",
|
| 450 |
+
"id": 9,
|
| 451 |
+
"grasp_group": {}
|
| 452 |
+
}
|
| 453 |
+
],
|
| 454 |
+
"quality_check": {
|
| 455 |
+
"success": false,
|
| 456 |
+
"message": "Mask colors and one part identity are incorrect; lime band is just shoulder highlight/seam, not a distinct functional part."
|
| 457 |
+
}
|
| 458 |
+
}
|
dataset/bathroom_supplies/bath_products/3e9af31a92ec5d4aad9076c2cdac0c12/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:14594c4d5d46cf3fce63aa62353d54401ad3027c1f8918db140163691d829f2f
|
| 3 |
+
size 37329164
|