Add asset bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/affordance_annot.json +632 -0
- dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -5686,3 +5686,4 @@ dataset/bathroom_supplies/bath_products/c60266d9d3b05558ab487ea4d9f95c19/afforda
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| 5686 |
dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5687 |
dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5688 |
dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5686 |
dataset/bathroom_supplies/bath_products/c8c12cbba45f5f6ab509ec7a566750de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5687 |
dataset/bathroom_supplies/bath_products/c8ac1c0bcbb6530085808821aa2e99ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5688 |
dataset/bathroom_supplies/bath_products/cc4c4c0b08325f83869259dd40e0fd31/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5689 |
+
dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,632 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump head",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pump head to rotate or align the dispenser for use",
|
| 10 |
+
"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the pump head to pull upward while unlocking or servicing the pump",
|
| 14 |
+
"confidence": 0.41
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense lotion when pressed",
|
| 19 |
+
"provide finger press surface",
|
| 20 |
+
"control outlet direction",
|
| 21 |
+
"enable pump actuation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small off-white plastic pump head with a smooth slightly glossy hard surface, curved spout-like shape, mounted at the top and oriented sideways for dispensing.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9576674699783325,
|
| 28 |
+
"position": [
|
| 29 |
+
0.010083602466693264,
|
| 30 |
+
0.08179581194417551,
|
| 31 |
+
0.17566666193306446
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.477906904589371,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8772767401683186,
|
| 37 |
+
-0.0136938699790628,
|
| 38 |
+
-0.04246162538635249
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.9564778208732605,
|
| 44 |
+
"position": [
|
| 45 |
+
0.00750714233618055,
|
| 46 |
+
0.08224226563470438,
|
| 47 |
+
0.173074247315526
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4858075580054587,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8733832751855626,
|
| 53 |
+
-0.004603056471320588,
|
| 54 |
+
-0.034226935037109496
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.9560227394104004,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0071436103480664315,
|
| 62 |
+
0.027034549333620816,
|
| 63 |
+
0.21889443881809711
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.04066914202979822,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.06488166191689079,
|
| 69 |
+
-0.9849124234045096,
|
| 70 |
+
0.15518991287102965
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_7": {
|
| 75 |
+
"confidence": 0.9554362297058105,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0210357538471726,
|
| 78 |
+
0.0999140816857107,
|
| 79 |
+
0.11603010632097721
|
| 80 |
+
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| 602 |
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| 603 |
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"present product branding"
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"semantic_description": "Large oval off-white plastic bottle body with a smooth satin surface, hard feel, embossed decorative side bumps and floral relief, positioned as the main lower container with printed black branding on the front.",
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| 627 |
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| 628 |
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"quality_check": {
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| 629 |
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"success": true,
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| 630 |
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"message": "YES"
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| 631 |
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}
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| 632 |
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}
|
dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5ea204626bb9be2f3c503257f0fecd06773c68d80ea12711bbf13a603f5cf50f
|
| 3 |
+
size 3776720
|
dataset/bathroom_supplies/bath_products/cd0d5f99b2205fffa98d2b3d9f455d5f/lotion_011.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>YES</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>YES</PartSegChecker>
|