Add asset bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/affordance/affordance_annot.json +645 -0
- dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/facial_cleanser_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -5673,3 +5673,4 @@ dataset/bathroom_supplies/bath_products/b35e8760266e55d4b7a21456fe4006b6/afforda
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| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5675 |
dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5673 |
dataset/bathroom_supplies/bath_products/b684d56be9615668bbbef47a126b6370/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5674 |
dataset/bathroom_supplies/bath_products/b7a049f6527950a48696ed515958e5cb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5675 |
dataset/bathroom_supplies/bath_products/bcc5da463d175a5884abb18f90aff696/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5676 |
+
dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,645 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle of the tube body to pick up and move the cleanser tube",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "squeeze and hold the flexible tube body to help dispense cleanser",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the tube by holding the upper body while manipulating the cap",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain cleanser",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"allow squeezing for dispensing",
|
| 25 |
+
"support product labeling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered blue plastic tube body with a satin to slightly glossy finish, smooth slightly flexible surface, and the main container shape above the black cap.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_7": {
|
| 31 |
+
"confidence": 0.9722030162811279,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.04091133684050874,
|
| 34 |
+
0.09687907571787946,
|
| 35 |
+
-0.00858510285615921
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.15631556449232828,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.1408493162218224,
|
| 41 |
+
0.6836148914344399,
|
| 42 |
+
-0.698854487448116
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_8": {
|
| 47 |
+
"confidence": 0.9719512462615967,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.03160121798646287,
|
| 50 |
+
0.1049152868508827,
|
| 51 |
+
-0.008701305836439133
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.13005122840873423,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.11144674066418385,
|
| 57 |
+
0.7157670036521021,
|
| 58 |
+
-0.6770110032101411
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_10": {
|
| 63 |
+
"confidence": 0.9712481498718262,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.025342070908664027,
|
| 66 |
+
0.1041511329531204,
|
| 67 |
+
-0.015326978638768196
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.09733008949424381,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.09764666844944392,
|
| 73 |
+
0.6956167174157721,
|
| 74 |
+
-0.7050598302778801
|
| 75 |
+
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}
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},
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| 626 |
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{
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| 627 |
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"part_name": "front logo text",
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| 628 |
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| 629 |
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"graspable": false,
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| 631 |
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| 632 |
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"identify brand",
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"provide front-side marking",
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| 634 |
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"indicate product orientation"
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| 635 |
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],
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"semantic_description": "Printed white brand logo text on the front upper portion of the tube, with flat ink-like markings rather than a structural part.",
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"id": 5,
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}
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],
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"quality_check": {
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"success": true,
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| 643 |
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"message": "YES"
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| 644 |
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}
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| 645 |
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}
|
dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/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 sha256:666ec6a3b6050b07301ed9a9147c18cf555b767f9c9ecfe4952903e5c3cb7faa
|
| 3 |
+
size 37320472
|
dataset/bathroom_supplies/bath_products/ba72e31c49e657bba30deb9a2f9e67d1/facial_cleanser_012.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Body and cap are reasonable, but Purple marks printed text/noise, not a functional part.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Body and cap are reasonable, but Purple marks printed text/noise, not a functional part.","merge_groups":[]}</PartSegChecker>
|