Add asset bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef
Browse files
.gitattributes
CHANGED
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@@ -5605,3 +5605,4 @@ dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/afforda
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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/57ef25116edc52a58c710ea7977a1a08/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/57ef25116edc52a58c710ea7977a1a08/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5608 |
+
dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,422 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the soap dispenser bottle",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump head",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or place the bottle on a surface",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"support standing on base"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded pale mint-green plastic bottle body with a smooth semi-gloss surface, slightly translucent appearance, and printed white graphics on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9816216826438904,
|
| 33 |
+
"position": [
|
| 34 |
+
0.04550851951353252,
|
| 35 |
+
-0.06297965382691473,
|
| 36 |
+
-0.10838536499068141
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
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"w": 0.8654613239048334,
|
| 40 |
+
"xyz": [
|
| 41 |
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-0.39244455806135864,
|
| 42 |
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-0.11829695635620063,
|
| 43 |
+
0.2880447808757827
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_8": {
|
| 48 |
+
"confidence": 0.9756641387939453,
|
| 49 |
+
"position": [
|
| 50 |
+
0.03334451909177005,
|
| 51 |
+
-0.08132609014865011,
|
| 52 |
+
-0.09407788841053843
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
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"w": 0.8545506459240049,
|
| 56 |
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"xyz": [
|
| 57 |
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-0.4813366026069944,
|
| 58 |
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-0.08079943812925527,
|
| 59 |
+
0.17756609850874955
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_14": {
|
| 64 |
+
"confidence": 0.9746074080467224,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.08684880589134991,
|
| 67 |
+
-0.028636420494876802,
|
| 68 |
+
-0.08853221265599132
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5168002991060144,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.28292977917164264,
|
| 74 |
+
0.40378760687129767,
|
| 75 |
+
0.6998741025634321
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"part_name": "pump head spout",
|
| 83 |
+
"mask_color": "Blue",
|
| 84 |
+
"graspable": true,
|
| 85 |
+
"grasp_scenarios": [
|
| 86 |
+
{
|
| 87 |
+
"scenario": "press down on the pump head to actuate dispensing",
|
| 88 |
+
"confidence": 0.94
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"scenario": "pinch the pump head to rotate or orient the spout slightly",
|
| 92 |
+
"confidence": 0.55
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"scenario": "delicately grasp the pump head during inspection or adjustment of the top assembly",
|
| 96 |
+
"confidence": 0.4
|
| 97 |
+
}
|
| 98 |
+
],
|
| 99 |
+
"functional_labels": [
|
| 100 |
+
"dispense liquid",
|
| 101 |
+
"direct liquid flow",
|
| 102 |
+
"press to actuate pump",
|
| 103 |
+
"indicate dispensing direction"
|
| 104 |
+
],
|
| 105 |
+
"semantic_description": "Small white plastic pump head with a smooth glossy surface and a short curved spout, located at the very top of the bottle.",
|
| 106 |
+
"id": 2,
|
| 107 |
+
"grasp_group": {
|
| 108 |
+
"grasp_20": {
|
| 109 |
+
"confidence": 0.9469447731971741,
|
| 110 |
+
"position": [
|
| 111 |
+
0.08398598874919116,
|
| 112 |
+
0.002343855448998511,
|
| 113 |
+
0.10004305513575673
|
| 114 |
+
],
|
| 115 |
+
"orientation": {
|
| 116 |
+
"w": 0.3496681882575442,
|
| 117 |
+
"xyz": [
|
| 118 |
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-0.591765245614838,
|
| 119 |
+
-0.6345567295460282,
|
| 120 |
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0.3533890337729035
|
| 121 |
+
]
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
"grasp_21": {
|
| 125 |
+
"confidence": 0.9374675750732422,
|
| 126 |
+
"position": [
|
| 127 |
+
-0.08144075726158917,
|
| 128 |
+
-0.037879005423747,
|
| 129 |
+
0.10240309359505773
|
| 130 |
+
],
|
| 131 |
+
"orientation": {
|
| 132 |
+
"w": 0.428933974003743,
|
| 133 |
+
"xyz": [
|
| 134 |
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-0.6976307783882976,
|
| 135 |
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0.5248897914551259,
|
| 136 |
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-0.2319863138568496
|
| 137 |
+
]
|
| 138 |
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}
|
| 139 |
+
},
|
| 140 |
+
"grasp_22": {
|
| 141 |
+
"confidence": 0.9306471943855286,
|
| 142 |
+
"position": [
|
| 143 |
+
0.036624134285375476,
|
| 144 |
+
0.08012136782053858,
|
| 145 |
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0.09382930817082524
|
| 146 |
+
],
|
| 147 |
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"orientation": {
|
| 148 |
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"w": 0.5015334332311312,
|
| 149 |
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"xyz": [
|
| 150 |
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0.845403806280904,
|
| 151 |
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-0.12028213136270116,
|
| 152 |
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-0.13888422715340948
|
| 153 |
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]
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
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"grasp_23": {
|
| 157 |
+
"confidence": 0.9164600372314453,
|
| 158 |
+
"position": [
|
| 159 |
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0.04353735293261707,
|
| 160 |
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-0.06736490910407156,
|
| 161 |
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0.11556208552792668
|
| 162 |
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],
|
| 163 |
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"orientation": {
|
| 164 |
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"w": 0.4157743918463359,
|
| 165 |
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"xyz": [
|
| 166 |
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-0.8126278862661052,
|
| 167 |
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-0.4030815478840907,
|
| 168 |
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0.0655197626892629
|
| 169 |
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]
|
| 170 |
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}
|
| 171 |
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},
|
| 172 |
+
"grasp_24": {
|
| 173 |
+
"confidence": 0.9086532592773438,
|
| 174 |
+
"position": [
|
| 175 |
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-0.003560697892680764,
|
| 176 |
+
0.08494652027729899,
|
| 177 |
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0.10318751307204366
|
| 178 |
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],
|
| 179 |
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"orientation": {
|
| 180 |
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"w": 0.02181805154847382,
|
| 181 |
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"xyz": [
|
| 182 |
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|
| 183 |
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0.8702606170404535,
|
| 184 |
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|
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| 312 |
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}
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},
|
| 316 |
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|
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|
| 318 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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],
|
| 323 |
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"orientation": {
|
| 324 |
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|
| 325 |
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"xyz": [
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| 326 |
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0.4398205257094017,
|
| 327 |
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|
| 328 |
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|
| 329 |
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]
|
| 330 |
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}
|
| 331 |
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}
|
| 332 |
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}
|
| 333 |
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},
|
| 334 |
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{
|
| 335 |
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"part_name": "pump collar",
|
| 336 |
+
"mask_color": "Green",
|
| 337 |
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"graspable": false,
|
| 338 |
+
"grasp_scenarios": [],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"connect pump to bottle",
|
| 341 |
+
"secure dispenser assembly",
|
| 342 |
+
"seal the bottle neck",
|
| 343 |
+
"support top mechanism"
|
| 344 |
+
],
|
| 345 |
+
"semantic_description": "Short white plastic cylindrical collar with a glossy smooth finish, located between the bottle shoulder and the pump head.",
|
| 346 |
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"id": 1,
|
| 347 |
+
"grasp_group": {}
|
| 348 |
+
},
|
| 349 |
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{
|
| 350 |
+
"part_name": "pump ring",
|
| 351 |
+
"mask_color": "Yellow",
|
| 352 |
+
"graspable": false,
|
| 353 |
+
"grasp_scenarios": [],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"join pump components",
|
| 356 |
+
"retain pump head",
|
| 357 |
+
"provide seal transition"
|
| 358 |
+
],
|
| 359 |
+
"semantic_description": "Thin ring-shaped band at the top of the collar beneath the pump head; in the RGB image it appears as a small white plastic ring.",
|
| 360 |
+
"id": 3,
|
| 361 |
+
"grasp_group": {}
|
| 362 |
+
},
|
| 363 |
+
{
|
| 364 |
+
"part_name": "front logo label",
|
| 365 |
+
"mask_color": "Orange",
|
| 366 |
+
"graspable": false,
|
| 367 |
+
"grasp_scenarios": [],
|
| 368 |
+
"functional_labels": [
|
| 369 |
+
"display branding",
|
| 370 |
+
"identify product",
|
| 371 |
+
"provide visual information"
|
| 372 |
+
],
|
| 373 |
+
"semantic_description": "Small white printed logo/brand mark on the upper front of the bottle, flat on the bottle surface.",
|
| 374 |
+
"id": 4,
|
| 375 |
+
"grasp_group": {}
|
| 376 |
+
},
|
| 377 |
+
{
|
| 378 |
+
"part_name": "leaf graphic",
|
| 379 |
+
"mask_color": "Pink",
|
| 380 |
+
"graspable": false,
|
| 381 |
+
"grasp_scenarios": [],
|
| 382 |
+
"functional_labels": [
|
| 383 |
+
"decorate bottle",
|
| 384 |
+
"suggest plant or ingredient theme",
|
| 385 |
+
"provide product imagery"
|
| 386 |
+
],
|
| 387 |
+
"semantic_description": "White leaf-like printed graphic on the lower front of the bottle, flat and decorative against the mint-green plastic surface.",
|
| 388 |
+
"id": 8,
|
| 389 |
+
"grasp_group": {}
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"part_name": "blue accent mark",
|
| 393 |
+
"mask_color": "Cyan",
|
| 394 |
+
"graspable": false,
|
| 395 |
+
"grasp_scenarios": [],
|
| 396 |
+
"functional_labels": [
|
| 397 |
+
"decorate printed graphic",
|
| 398 |
+
"add visual detail"
|
| 399 |
+
],
|
| 400 |
+
"semantic_description": "Small blue printed accent near the lower front leaf graphic, flat and non-structural on the bottle surface.",
|
| 401 |
+
"id": 6,
|
| 402 |
+
"grasp_group": {}
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"part_name": "purple accent mark",
|
| 406 |
+
"mask_color": "Purple",
|
| 407 |
+
"graspable": false,
|
| 408 |
+
"grasp_scenarios": [],
|
| 409 |
+
"functional_labels": [
|
| 410 |
+
"decorate printed graphic",
|
| 411 |
+
"add visual contrast"
|
| 412 |
+
],
|
| 413 |
+
"semantic_description": "Small purple printed accent adjacent to the lower front leaf graphic, flat and purely decorative on the bottle exterior.",
|
| 414 |
+
"id": 5,
|
| 415 |
+
"grasp_group": {}
|
| 416 |
+
}
|
| 417 |
+
],
|
| 418 |
+
"quality_check": {
|
| 419 |
+
"success": false,
|
| 420 |
+
"message": "Several visual descriptions are wrong: body color/graphics and logo colors; extra purple accent not visible in RGB image."
|
| 421 |
+
}
|
| 422 |
+
}
|
dataset/bathroom_supplies/bath_products/589b8d46fa675b6d9463f7c038c5beef/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:db63205fe0e1918e95d549dec8ce2d1c9e497bf877d680328e6f93711b064da8
|
| 3 |
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size 3772672
|