Add asset bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5
Browse files
.gitattributes
CHANGED
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@@ -5641,3 +5641,4 @@ dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/afforda
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| 5641 |
dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5642 |
dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5643 |
dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5641 |
dataset/bathroom_supplies/bath_products/86c0643bf0535a87a754fd48ea341754/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5642 |
dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5643 |
dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5644 |
+
dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,284 @@
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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 shampoo bottle",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body while pressing the pump to dispense shampoo",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle body while placing it upright on a surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain shampoo",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide structural body",
|
| 26 |
+
"stand upright on base"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large light aqua-blue plastic bottle body with a smooth glossy surface, oval tapered shape, and black printed product text on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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"grasp_3": {
|
| 32 |
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"confidence": 0.9654756784439087,
|
| 33 |
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"position": [
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.9032332010923729,
|
| 40 |
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"xyz": [
|
| 41 |
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-0.42899486603381604,
|
| 42 |
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|
| 43 |
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-0.010650948420351854
|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_8": {
|
| 48 |
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"confidence": 0.9638069868087769,
|
| 49 |
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"position": [
|
| 50 |
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0.006336529055261053,
|
| 51 |
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-0.09521142183803022,
|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.8968139128012453,
|
| 56 |
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"xyz": [
|
| 57 |
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|
| 58 |
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-0.010402852593237921,
|
| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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}
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"part_name": "pump collar",
|
| 67 |
+
"mask_color": "Blue",
|
| 68 |
+
"graspable": false,
|
| 69 |
+
"grasp_scenarios": [],
|
| 70 |
+
"functional_labels": [
|
| 71 |
+
"connect pump to bottle",
|
| 72 |
+
"seal neck opening",
|
| 73 |
+
"support pump assembly",
|
| 74 |
+
"provide threaded neck interface"
|
| 75 |
+
],
|
| 76 |
+
"semantic_description": "Short white plastic collar around the bottle neck beneath the pump head, with visible vertical ribbing and a satin-to-matte hard surface.",
|
| 77 |
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"id": 2,
|
| 78 |
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"grasp_group": {}
|
| 79 |
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},
|
| 80 |
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{
|
| 81 |
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"part_name": "retaining ring",
|
| 82 |
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"mask_color": "Yellow",
|
| 83 |
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"graspable": false,
|
| 84 |
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"grasp_scenarios": [],
|
| 85 |
+
"functional_labels": [
|
| 86 |
+
"secure pump head",
|
| 87 |
+
"lock dispenser components",
|
| 88 |
+
"space pump above collar"
|
| 89 |
+
],
|
| 90 |
+
"semantic_description": "Very small white plastic ring located between the ribbed collar and the pump head at the bottle top, with a smooth hard surface.",
|
| 91 |
+
"id": 3,
|
| 92 |
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"grasp_group": {}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"part_name": "pump head",
|
| 96 |
+
"mask_color": "Green",
|
| 97 |
+
"graspable": true,
|
| 98 |
+
"grasp_scenarios": [
|
| 99 |
+
{
|
| 100 |
+
"scenario": "press the pump head downward to dispense shampoo",
|
| 101 |
+
"confidence": 0.99
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"scenario": "pinch and turn the pump head to unlock or orient the dispenser",
|
| 105 |
+
"confidence": 0.68
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"functional_labels": [
|
| 109 |
+
"dispense shampoo",
|
| 110 |
+
"press to pump liquid",
|
| 111 |
+
"direct output spout",
|
| 112 |
+
"indicate dispensing direction"
|
| 113 |
+
],
|
| 114 |
+
"semantic_description": "Small white plastic pump head with a smooth slightly glossy surface, curved spout-like shape, and top-mounted position oriented outward for dispensing.",
|
| 115 |
+
"id": 1,
|
| 116 |
+
"grasp_group": {
|
| 117 |
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"grasp_20": {
|
| 118 |
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"confidence": 0.9585927724838257,
|
| 119 |
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"position": [
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| 120 |
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0.014972372693591751,
|
| 121 |
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0.0765693208668381,
|
| 122 |
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0.20089022256433964
|
| 123 |
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],
|
| 124 |
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"orientation": {
|
| 125 |
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"w": 0.4506241932238529,
|
| 126 |
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"xyz": [
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| 129 |
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| 130 |
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]
|
| 131 |
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}
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| 132 |
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},
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| 133 |
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"grasp_21": {
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| 134 |
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"confidence": 0.9123345613479614,
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"position": [
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| 139 |
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],
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"orientation": {
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| 146 |
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]
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| 147 |
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}
|
| 148 |
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},
|
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"grasp_22": {
|
| 150 |
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"confidence": 0.9041564464569092,
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"position": [
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],
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]
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}
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},
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],
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]
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}
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},
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"grasp_32": {
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| 254 |
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| 255 |
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| 257 |
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| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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| 264 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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| 275 |
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|
| 276 |
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|
| 277 |
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| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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"success": true,
|
| 282 |
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"message": "YES"
|
| 283 |
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|
| 284 |
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|
dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:27ccde49f4a02201a186841fca706ff116778c542e3932db39b2756218dfb4a8
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| 3 |
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size 3780664
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