Add asset bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb
Browse files
.gitattributes
CHANGED
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@@ -5564,3 +5564,4 @@ dataset/bathroom_supplies/bath_products/18951f93428a50ab972879dee99dc4da/afforda
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| 5564 |
dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5565 |
dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5566 |
dataset/bathroom_supplies/bath_products/211782bb4d9c5681a0e07e779ce94df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5564 |
dataset/bathroom_supplies/bath_products/1c135e8544d058a1a544ada07663f32e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5565 |
dataset/bathroom_supplies/bath_products/1f4801f365ff520ba8eb691d2934f4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5566 |
dataset/bathroom_supplies/bath_products/211782bb4d9c5681a0e07e779ce94df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5567 |
+
dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,424 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main tube body to pick up and move the container",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the tube while opening or closing the flip-top cap",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the flexible body to dispense product",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain product",
|
| 24 |
+
"support squeezing for dispensing",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"display product label"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered beige plastic tube body with a smooth slightly glossy surface, printed dark text and gold curved graphics, forming most of the container between the crimped top and the cap assembly.",
|
| 29 |
+
"id": 8,
|
| 30 |
+
"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "top crimp seal",
|
| 34 |
+
"mask_color": "Orange",
|
| 35 |
+
"graspable": false,
|
| 36 |
+
"grasp_scenarios": [],
|
| 37 |
+
"functional_labels": [
|
| 38 |
+
"seal the filled tube top",
|
| 39 |
+
"close the package permanently after filling",
|
| 40 |
+
"form the top edge of the tube"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Thin flat beige crimped strip at the very top of the tube, narrow and slightly ridged compared with the main body.",
|
| 43 |
+
"id": 4,
|
| 44 |
+
"grasp_group": {}
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"part_name": "cap collar",
|
| 48 |
+
"mask_color": "Yellow",
|
| 49 |
+
"graspable": true,
|
| 50 |
+
"grasp_scenarios": [
|
| 51 |
+
{
|
| 52 |
+
"scenario": "grasp the collar area to steady the tube near the cap during opening",
|
| 53 |
+
"confidence": 0.58
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"scenario": "pinch the collar area for short-range reorientation",
|
| 57 |
+
"confidence": 0.44
|
| 58 |
+
}
|
| 59 |
+
],
|
| 60 |
+
"functional_labels": [
|
| 61 |
+
"connect the body to the cap",
|
| 62 |
+
"support the cap assembly",
|
| 63 |
+
"provide a transition between tube body and cap base"
|
| 64 |
+
],
|
| 65 |
+
"semantic_description": "Narrow beige plastic ring above the bottom cap base, smooth and slightly glossy, wrapping around the lower end of the tube as the transition band.",
|
| 66 |
+
"id": 3,
|
| 67 |
+
"grasp_group": {
|
| 68 |
+
"grasp_21": {
|
| 69 |
+
"confidence": 0.9655655026435852,
|
| 70 |
+
"position": [
|
| 71 |
+
-0.09290072019211948,
|
| 72 |
+
0.00493687171547208,
|
| 73 |
+
-0.10298808757215738
|
| 74 |
+
],
|
| 75 |
+
"orientation": {
|
| 76 |
+
"w": 0.5912978027695429,
|
| 77 |
+
"xyz": [
|
| 78 |
+
-0.34639289384225186,
|
| 79 |
+
0.38204582189960756,
|
| 80 |
+
-0.6200160171354885
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"grasp_25": {
|
| 85 |
+
"confidence": 0.9566208124160767,
|
| 86 |
+
"position": [
|
| 87 |
+
0.08465970610268414,
|
| 88 |
+
-0.04068521303997841,
|
| 89 |
+
-0.10297673288732767
|
| 90 |
+
],
|
| 91 |
+
"orientation": {
|
| 92 |
+
"w": 0.48834115189729793,
|
| 93 |
+
"xyz": [
|
| 94 |
+
0.2541076677315496,
|
| 95 |
+
-0.45308481030532977,
|
| 96 |
+
-0.7011892520812307
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"grasp_26": {
|
| 101 |
+
"confidence": 0.9565185904502869,
|
| 102 |
+
"position": [
|
| 103 |
+
-0.09114879812113941,
|
| 104 |
+
-0.021916308309300803,
|
| 105 |
+
-0.10115596000105143
|
| 106 |
+
],
|
| 107 |
+
"orientation": {
|
| 108 |
+
"w": 0.6698264800348339,
|
| 109 |
+
"xyz": [
|
| 110 |
+
-0.4095620666759553,
|
| 111 |
+
0.318646206764435,
|
| 112 |
+
-0.5310894417128821
|
| 113 |
+
]
|
| 114 |
+
}
|
| 115 |
+
},
|
| 116 |
+
"grasp_27": {
|
| 117 |
+
"confidence": 0.9544396996498108,
|
| 118 |
+
"position": [
|
| 119 |
+
-0.1023969769012183,
|
| 120 |
+
-0.0032990843610605225,
|
| 121 |
+
-0.06341149006038904
|
| 122 |
+
],
|
| 123 |
+
"orientation": {
|
| 124 |
+
"w": 0.5303242717117713,
|
| 125 |
+
"xyz": [
|
| 126 |
+
-0.4855563306500436,
|
| 127 |
+
0.4751745728225081,
|
| 128 |
+
-0.507149230446022
|
| 129 |
+
]
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"grasp_28": {
|
| 133 |
+
"confidence": 0.9540609121322632,
|
| 134 |
+
"position": [
|
| 135 |
+
-0.10452458704821765,
|
| 136 |
+
-0.019870844538672827,
|
| 137 |
+
-0.05948702339082956
|
| 138 |
+
],
|
| 139 |
+
"orientation": {
|
| 140 |
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"w": 0.4661694099035998,
|
| 141 |
+
"xyz": [
|
| 142 |
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0.438315293797447,
|
| 143 |
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0.5354187781945887,
|
| 144 |
+
0.5512644705130205
|
| 145 |
+
]
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"grasp_29": {
|
| 149 |
+
"confidence": 0.9536142349243164,
|
| 150 |
+
"position": [
|
| 151 |
+
0.032857123063877225,
|
| 152 |
+
-0.09809449208842125,
|
| 153 |
+
-0.06346627417951822
|
| 154 |
+
],
|
| 155 |
+
"orientation": {
|
| 156 |
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"w": 0.13470294264690946,
|
| 157 |
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"xyz": [
|
| 158 |
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0.11688646936974362,
|
| 159 |
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-0.6628882203629332,
|
| 160 |
+
-0.7271670219589188
|
| 161 |
+
]
|
| 162 |
+
}
|
| 163 |
+
},
|
| 164 |
+
"grasp_31": {
|
| 165 |
+
"confidence": 0.951789140701294,
|
| 166 |
+
"position": [
|
| 167 |
+
-0.10184707934968174,
|
| 168 |
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-0.02102677231596317,
|
| 169 |
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-0.06344237271696329
|
| 170 |
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],
|
| 171 |
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"orientation": {
|
| 172 |
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"w": 0.47075469625790467,
|
| 173 |
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"xyz": [
|
| 174 |
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0.43453117544328956,
|
| 175 |
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0.5330582273955496,
|
| 176 |
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0.5526496175018265
|
| 177 |
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]
|
| 178 |
+
}
|
| 179 |
+
},
|
| 180 |
+
"grasp_32": {
|
| 181 |
+
"confidence": 0.9517200589179993,
|
| 182 |
+
"position": [
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| 183 |
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{
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|
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{
|
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"scenario": "pinch or hook the small tab to flip open the dispensing cap",
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|
| 302 |
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|
| 303 |
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{
|
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],
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| 312 |
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],
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"semantic_description": "Small rectangular beige plastic protrusion on the front face of the bottom flip-top cap, centered near the upper front edge of the cap.",
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|
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|
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},
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{
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"part_name": "cap base",
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|
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|
| 322 |
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{
|
| 323 |
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"scenario": "grasp the rigid base end to lift or reorient the tube from its bottom",
|
| 324 |
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"confidence": 0.74
|
| 325 |
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},
|
| 326 |
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{
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"scenario": "hold the base while another gripper manipulates the body or opening tab",
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|
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|
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],
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"support upright standing",
|
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"form the rigid bottom of the cap assembly",
|
| 334 |
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"provide a secondary grasp area"
|
| 335 |
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],
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| 336 |
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"semantic_description": "Rounded beige plastic bottom base of the flip-top cap assembly with a smooth glossy hard surface, wider than the tube end and located at the bottom so the container can stand upright on it.",
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| 337 |
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|
| 338 |
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}
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}
|
| 404 |
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},
|
| 405 |
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{
|
| 406 |
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"part_name": "cap seam",
|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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|
| 411 |
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"mark the joint between collar and cap base",
|
| 412 |
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|
| 413 |
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|
| 414 |
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],
|
| 415 |
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"semantic_description": "Very thin narrow seam line between the yellow collar and green cap base, visible as a slim ring around the cap assembly near the lower end of the tube.",
|
| 416 |
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"id": 5,
|
| 417 |
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|
| 418 |
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}
|
| 419 |
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],
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| 420 |
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"quality_check": {
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| 421 |
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"success": true,
|
| 422 |
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"message": "YES"
|
| 423 |
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}
|
| 424 |
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}
|
dataset/bathroom_supplies/bath_products/214670a6554d54b4bf61f90794847fbb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:49050dce9bb73e0978c38121620a7849aae4f41d4b2b6cded7c3976de0c1fbf1
|
| 3 |
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size 3787308
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