Add asset bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/affordance/affordance_annot.json +668 -0
- dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/shampoo_bottle_001.urdf +3 -2
.gitattributes
CHANGED
|
@@ -5692,3 +5692,4 @@ dataset/bathroom_supplies/bath_products/d012a63dc7b351218ae6e14658c57c7d/afforda
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| 5692 |
dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5693 |
dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5694 |
dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5692 |
dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5693 |
dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5694 |
dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5695 |
+
dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,668 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump head and spout",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pump head lightly to rotate and unlock or relock the dispenser",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pump head to orient the spout direction during setup",
|
| 14 |
+
"confidence": 0.46
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense shampoo when pressed",
|
| 19 |
+
"provide a press surface",
|
| 20 |
+
"control outlet direction",
|
| 21 |
+
"twist to lock or unlock pump"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small beige plastic pump head with a smooth slightly glossy surface and short curved spout, mounted at the very top of the bottle.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9137521982192993,
|
| 28 |
+
"position": [
|
| 29 |
+
0.010655016114469618,
|
| 30 |
+
-0.11079309444176033,
|
| 31 |
+
0.10571179073303938
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.050767950712082906,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.03158100826365202,
|
| 37 |
+
-0.7359131112873903,
|
| 38 |
+
-0.6744309807036302
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9132711291313171,
|
| 44 |
+
"position": [
|
| 45 |
+
0.02284308843081817,
|
| 46 |
+
0.0943716510082595,
|
| 47 |
+
0.11893658619374037
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5361849446525915,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.836217588739703,
|
| 53 |
+
-0.06933268618614319,
|
| 54 |
+
-0.09186309398484302
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9094196557998657,
|
| 60 |
+
"position": [
|
| 61 |
+
0.009571918693836778,
|
| 62 |
+
0.09526914794696495,
|
| 63 |
+
0.1203638045117259
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
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| 570 |
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| 573 |
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| 579 |
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| 588 |
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],
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| 612 |
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| 615 |
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]
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| 617 |
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}
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| 618 |
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}
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| 619 |
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}
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| 620 |
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},
|
| 621 |
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{
|
| 622 |
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"part_name": "front oval graphic",
|
| 623 |
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"mask_color": "Navy",
|
| 624 |
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"graspable": false,
|
| 625 |
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"grasp_scenarios": [],
|
| 626 |
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"functional_labels": [
|
| 627 |
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"highlight front label design",
|
| 628 |
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"provide decorative graphic",
|
| 629 |
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"aid product identification"
|
| 630 |
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],
|
| 631 |
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"semantic_description": "Thin dark blue oval printed on the lower front area of the bottle graphics, flat and smooth as part of the exterior label design.",
|
| 632 |
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"id": 13,
|
| 633 |
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"grasp_group": {}
|
| 634 |
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},
|
| 635 |
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{
|
| 636 |
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"part_name": "upper front brand emblem",
|
| 637 |
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"mask_color": "Burnt Orange",
|
| 638 |
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"graspable": false,
|
| 639 |
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"grasp_scenarios": [],
|
| 640 |
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"functional_labels": [
|
| 641 |
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"show brand identity",
|
| 642 |
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"mark the front of the bottle",
|
| 643 |
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"aid visual recognition"
|
| 644 |
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],
|
| 645 |
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"semantic_description": "Small gold swoosh-like printed emblem on the upper front shoulder area, flat and smooth on the bottle surface.",
|
| 646 |
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"id": 18,
|
| 647 |
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"grasp_group": {}
|
| 648 |
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},
|
| 649 |
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{
|
| 650 |
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"part_name": "small front text marking",
|
| 651 |
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"mask_color": "Magenta",
|
| 652 |
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"graspable": false,
|
| 653 |
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"grasp_scenarios": [],
|
| 654 |
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"functional_labels": [
|
| 655 |
+
"display product information",
|
| 656 |
+
"show small printed text",
|
| 657 |
+
"support labeling"
|
| 658 |
+
],
|
| 659 |
+
"semantic_description": "Small printed text marking on the front central area of the bottle graphics, appearing dark on the beige surface, flat and smooth on the exterior.",
|
| 660 |
+
"id": 7,
|
| 661 |
+
"grasp_group": {}
|
| 662 |
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}
|
| 663 |
+
],
|
| 664 |
+
"quality_check": {
|
| 665 |
+
"success": false,
|
| 666 |
+
"message": "Several labeled graphics do not match visible markings or colors; one text part is not actually visible as a distinct part."
|
| 667 |
+
}
|
| 668 |
+
}
|
dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cadb8e96b0d053abe930a871373eab472cb39cb69cd3bb68214f3ac39d381b63
|
| 3 |
+
size 3805620
|
dataset/bathroom_supplies/bath_products/d9cf7b28012457b9ac2fd54bedbb908d/shampoo_bottle_001.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>NO: {"summary":"
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>7</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>NO: {"summary":"Bottle is over-segmented into arbitrary surface regions; only pump is clear.","merge_groups":[{"colors":["Maroon","Gray"],"target_part":"main bottle body","reason":"same container body split without functional boundary"},{"colors":["Brown","Gray"],"target_part":"main bottle body","reason":"small body patch is nonfunctional surface fragment"}]}</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|