Add asset bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3
Browse files- .gitattributes +1 -0
- dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/affordance_annot.json +660 -0
- dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_cleanser_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -5556,3 +5556,4 @@ dataset/bathroom_supplies/bath_products/063be7c04ea851c78564ec1815dedd1a/afforda
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| 5556 |
dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5557 |
dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5558 |
dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5556 |
dataset/bathroom_supplies/bath_products/10a4373b96cc5017b1215e1c4da952d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5557 |
dataset/bathroom_supplies/bath_products/0cf0b81511545f4ea327a79011fd13c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5558 |
dataset/bathroom_supplies/bath_products/12e797a66058596bb583d8a6b909eaad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5559 |
+
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,660 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tube body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tube body to pick up and move the facial cleanser",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the tube body while opening or closing the cap",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "squeeze the tube body to dispense cleanser",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain cleanser",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"squeeze to dispense",
|
| 25 |
+
"support printed labeling"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered light mint-green plastic tube body with a matte-to-satin smooth surface, slightly flexible feel, printed orange text, and the main central volume above the cap.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9816524386405945,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0030224825895857066,
|
| 34 |
+
0.1137689429015154,
|
| 35 |
+
0.09217180195264518
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.06839208963496159,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.02766007902287144,
|
| 41 |
+
0.7294344487103561,
|
| 42 |
+
-0.6800608995806409
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9807628393173218,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.024663747724844143,
|
| 50 |
+
0.10807505274715368,
|
| 51 |
+
0.0562765549402684
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.11875725406485439,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.07225359834233641,
|
| 57 |
+
0.6377697620549031,
|
| 58 |
+
-0.7575789481908747
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9800399541854858,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.013295084674609825,
|
| 66 |
+
0.11426501745881978,
|
| 67 |
+
0.09189277025870979
|
| 68 |
+
],
|
| 69 |
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},
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{
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|
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|
| 631 |
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"reinforce top edge",
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| 635 |
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"indicate top boundary"
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| 636 |
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],
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| 637 |
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"semantic_description": "Thin flat crimped strip at the top of the tube, matching the pale body color with a smooth sealed plastic finish and narrow elongated shape.",
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| 638 |
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"id": 3,
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"grasp_group": {}
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},
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{
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"part_name": "cap latch tab",
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| 646 |
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"indicate flip-top front"
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| 650 |
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],
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| 651 |
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"semantic_description": "Very small protruding tab on the front edge of the tan cap, made of smooth hard plastic and positioned at the cap rim for opening leverage.",
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| 652 |
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"id": 0,
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| 653 |
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"grasp_group": {}
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| 654 |
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}
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],
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| 656 |
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"quality_check": {
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| 657 |
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"success": true,
|
| 658 |
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"message": "YES"
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| 659 |
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}
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| 660 |
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}
|
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/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 sha256:70caa7b2419c233a75797625b89d03e0e327e5aa7166fa4a3df5743a1ca95ada
|
| 3 |
+
size 37317128
|
dataset/bathroom_supplies/bath_products/10ec6c8a49055a2e9521434e9ad226b3/facial_cleanser_015.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|