Add asset bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919
Browse files
.gitattributes
CHANGED
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@@ -5622,3 +5622,4 @@ dataset/bathroom_supplies/bath_products/6a3026a7947c5316a52b237f2cd03aa0/afforda
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| 5622 |
dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5623 |
dataset/bathroom_supplies/bath_products/6c00e70af5c65b3ea36df21a028e48c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5624 |
dataset/bathroom_supplies/bath_products/6daa9062bef15ffca2b830c65f6f723c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5622 |
dataset/bathroom_supplies/bath_products/69f841c738725e29802622236994349a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5623 |
dataset/bathroom_supplies/bath_products/6c00e70af5c65b3ea36df21a028e48c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5624 |
dataset/bathroom_supplies/bath_products/6daa9062bef15ffca2b830c65f6f723c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5625 |
+
dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,452 @@
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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 sanitizer",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body steady while pressing the pump with another manipulator",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to orient and place the bottle on a surface",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain sanitizer liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support standing",
|
| 25 |
+
"provide label area",
|
| 26 |
+
"stabilize during dispensing"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded light-blue plastic bottle body with a glossy smooth hard surface, slightly tapered cylindrical shape, printed white label graphics and text, and the main mass located below the pump.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_8": {
|
| 32 |
+
"confidence": 0.9793701767921448,
|
| 33 |
+
"position": [
|
| 34 |
+
0.040759065421298146,
|
| 35 |
+
-0.08042689936701208,
|
| 36 |
+
-0.07919035665690899
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.8488796434832727,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.4750972487004089,
|
| 42 |
+
-0.09481105546310309,
|
| 43 |
+
0.21141622198636015
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_9": {
|
| 48 |
+
"confidence": 0.9788781404495239,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09948949259705842,
|
| 51 |
+
0.026472423574887216,
|
| 52 |
+
0.019483493641018867
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5547929577736975,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5687324424901915,
|
| 58 |
+
-0.4242552872965636,
|
| 59 |
+
-0.43446016395610265
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_11": {
|
| 64 |
+
"confidence": 0.978293240070343,
|
| 65 |
+
"position": [
|
| 66 |
+
0.09221005183644593,
|
| 67 |
+
0.04324944538529962,
|
| 68 |
+
0.024524671956896782
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5901492494587047,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.6124417341231854,
|
| 74 |
+
-0.35390681807517765,
|
| 75 |
+
-0.38908732925580597
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_12": {
|
| 80 |
+
"confidence": 0.9782840013504028,
|
| 81 |
+
"position": [
|
| 82 |
+
0.035505903186276555,
|
| 83 |
+
-0.0846293397480622,
|
| 84 |
+
-0.08065320365130901
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.8567439971825711,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.48218220704277576,
|
| 90 |
+
-0.07663354513234977,
|
| 91 |
+
0.16618466314144587
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_15": {
|
| 96 |
+
"confidence": 0.9780128598213196,
|
| 97 |
+
"position": [
|
| 98 |
+
0.04034673166461289,
|
| 99 |
+
-0.07917231845203787,
|
| 100 |
+
-0.07873234711587429
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.8438306865741464,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.4816779865746916,
|
| 106 |
+
-0.09430892832319804,
|
| 107 |
+
0.21689148365873112
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
}
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"part_name": "pump dispenser",
|
| 115 |
+
"mask_color": "Green",
|
| 116 |
+
"graspable": true,
|
| 117 |
+
"grasp_scenarios": [
|
| 118 |
+
{
|
| 119 |
+
"scenario": "press and hold the pump head to dispense sanitizer",
|
| 120 |
+
"confidence": 0.86
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"scenario": "grasp the pump assembly to stabilize or reorient the top during manipulation",
|
| 124 |
+
"confidence": 0.42
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"scenario": "delicately pinch the spout area to turn or inspect the dispenser top",
|
| 128 |
+
"confidence": 0.3
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"functional_labels": [
|
| 132 |
+
"dispense sanitizer",
|
| 133 |
+
"press to actuate pump",
|
| 134 |
+
"direct liquid flow through spout",
|
| 135 |
+
"seal the bottle opening",
|
| 136 |
+
"provide top-side manipulation point"
|
| 137 |
+
],
|
| 138 |
+
"semantic_description": "Small light-blue plastic pump and spout with a glossy smooth hard finish, rounded head and short nozzle mounted on the bottle neck at the top.",
|
| 139 |
+
"id": 1,
|
| 140 |
+
"grasp_group": {
|
| 141 |
+
"grasp_20": {
|
| 142 |
+
"confidence": 0.9753475189208984,
|
| 143 |
+
"position": [
|
| 144 |
+
0.10257310909219086,
|
| 145 |
+
0.0030700656352564692,
|
| 146 |
+
0.032462311908602715
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.4859788245442555,
|
| 150 |
+
"xyz": [
|
| 151 |
+
-0.4987296052203457,
|
| 152 |
+
-0.5118520860244102,
|
| 153 |
+
0.503091249182295
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_21": {
|
| 158 |
+
"confidence": 0.9740038514137268,
|
| 159 |
+
"position": [
|
| 160 |
+
0.10157166910357773,
|
| 161 |
+
-0.004644494387321174,
|
| 162 |
+
0.03239753656089306
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.5085418753278103,
|
| 166 |
+
"xyz": [
|
| 167 |
+
-0.5019984876740275,
|
| 168 |
+
-0.5063333469095526,
|
| 169 |
+
0.4827102870443449
|
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dataset/bathroom_supplies/bath_products/6f9902cc0a55557298549bdad9d2c919/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3779304
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