xinjjj commited on
Commit
2f8ab2b
·
verified ·
1 Parent(s): 394404c

Add asset bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c

Browse files
.gitattributes CHANGED
@@ -5868,3 +5868,4 @@ dataset/bathroom_supplies/personal_care/e7443951ec2d55149e80d215345a26ff/afforda
5868
  dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5869
  dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5870
  dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5868
  dataset/bathroom_supplies/personal_care/eb4c0a5fd5f25786a5bf5cf1be644e46/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5869
  dataset/bathroom_supplies/personal_care/ed06b5b051ee53bb85914c65b9ec8ffc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5870
  dataset/bathroom_supplies/personal_care/ed3a3d0a66da58998e05db779fd7a66f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5871
+ dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,368 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "floss dispenser box body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the box body from the sides to pick up and move the dental floss container",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the box body steady while opening the lid or pulling floss",
14
+ "confidence": 0.91
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain the floss supply",
19
+ "support the lid",
20
+ "provide the main grasp surface",
21
+ "stabilize dispensing"
22
+ ],
23
+ "semantic_description": "Small rectangular off-white paperboard box with a matte smooth surface, hard lightweight feel, printed red and black text, and a hinged top section forming the main container body.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.988030731678009,
28
+ "position": [
29
+ 0.11497218254953623,
30
+ -0.012542046693852171,
31
+ -0.003312647109851241
32
+ ],
33
+ "orientation": {
34
+ "w": 0.0009480278873083831,
35
+ "xyz": [
36
+ -0.6946291200725003,
37
+ -0.013644300759864225,
38
+ 0.7192380133496862
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9869258403778076,
44
+ "position": [
45
+ 0.11530197504907846,
46
+ -0.019333227624883875,
47
+ -0.0032521255780011415
48
+ ],
49
+ "orientation": {
50
+ "w": 0.004890020924836974,
51
+ "xyz": [
52
+ -0.6990767832252582,
53
+ -0.007569546014714157,
54
+ 0.7149898186854905
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9869003891944885,
60
+ "position": [
61
+ 0.11192614678293467,
62
+ -0.02226251651882194,
63
+ 0.00020681042224168777
64
+ ],
65
+ "orientation": {
66
+ "w": 0.0066630780493752125,
67
+ "xyz": [
68
+ -0.6949018116597069,
69
+ -0.0062091891388901255,
70
+ 0.7190469536220857
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9867728352546692,
76
+ "position": [
77
+ 0.1125066364184022,
78
+ -0.02089021643041633,
79
+ -0.004670148948207498
80
+ ],
81
+ "orientation": {
82
+ "w": 0.01352586494712211,
83
+ "xyz": [
84
+ -0.6932245649270506,
85
+ -0.005931982052502338,
86
+ 0.7205703054859133
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9863275289535522,
92
+ "position": [
93
+ 0.11286565009504557,
94
+ -0.027746732434025034,
95
+ -0.006530967773869634
96
+ ],
97
+ "orientation": {
98
+ "w": 0.06864873499832518,
99
+ "xyz": [
100
+ -0.6839871663816293,
101
+ 0.025286102296033452,
102
+ 0.7258164509289069
103
+ ]
104
+ }
105
+ },
106
+ "grasp_5": {
107
+ "confidence": 0.9861613512039185,
108
+ "position": [
109
+ 0.11653041187673807,
110
+ 0.007486964022973552,
111
+ -0.0028929787222296
112
+ ],
113
+ "orientation": {
114
+ "w": 0.009036493183716323,
115
+ "xyz": [
116
+ 0.6955416007088145,
117
+ 0.018977171179461405,
118
+ -0.7181783138249065
119
+ ]
120
+ }
121
+ },
122
+ "grasp_6": {
123
+ "confidence": 0.986099362373352,
124
+ "position": [
125
+ 0.11112402472645044,
126
+ -0.02257381667732261,
127
+ -0.005613881396129727
128
+ ],
129
+ "orientation": {
130
+ "w": 0.026185694464682923,
131
+ "xyz": [
132
+ -0.6894786525234871,
133
+ -0.0010625950365180659,
134
+ 0.7238317263090831
135
+ ]
136
+ }
137
+ },
138
+ "grasp_7": {
139
+ "confidence": 0.9860135912895203,
140
+ "position": [
141
+ 0.11813960317522287,
142
+ 0.006224706681678072,
143
+ -0.0020073929335922003
144
+ ],
145
+ "orientation": {
146
+ "w": 0.015192596290538126,
147
+ "xyz": [
148
+ 0.6939958866785385,
149
+ 0.026584133066695714,
150
+ -0.7193275875151142
151
+ ]
152
+ }
153
+ },
154
+ "grasp_8": {
155
+ "confidence": 0.9858555197715759,
156
+ "position": [
157
+ 0.11555592063814402,
158
+ 0.00038843421407364076,
159
+ -0.0010806357022374868
160
+ ],
161
+ "orientation": {
162
+ "w": 0.04031025440439834,
163
+ "xyz": [
164
+ -0.6874339199531482,
165
+ -0.004600243450266106,
166
+ 0.725112768366342
167
+ ]
168
+ }
169
+ },
170
+ "grasp_9": {
171
+ "confidence": 0.9858381152153015,
172
+ "position": [
173
+ 0.11443727556616068,
174
+ 0.009390067221829668,
175
+ -0.0025489276740700006
176
+ ],
177
+ "orientation": {
178
+ "w": 0.005564345995005678,
179
+ "xyz": [
180
+ -0.6957121774699724,
181
+ -0.014219095782054603,
182
+ 0.7181583540478927
183
+ ]
184
+ }
185
+ },
186
+ "grasp_10": {
187
+ "confidence": 0.9858354330062866,
188
+ "position": [
189
+ 0.11079456750303507,
190
+ -0.01515773226856254,
191
+ -0.004430878208950162
192
+ ],
193
+ "orientation": {
194
+ "w": 0.018628074170580874,
195
+ "xyz": [
196
+ -0.6913050375352613,
197
+ -0.002115549916563708,
198
+ 0.7223197798618122
199
+ ]
200
+ }
201
+ },
202
+ "grasp_11": {
203
+ "confidence": 0.9857879877090454,
204
+ "position": [
205
+ 0.11456368956714869,
206
+ 0.004200782539555803,
207
+ -0.004347439156845212
208
+ ],
209
+ "orientation": {
210
+ "w": 0.0018318443416703205,
211
+ "xyz": [
212
+ -0.6895267215492021,
213
+ -0.004234198725930671,
214
+ 0.7242455496425683
215
+ ]
216
+ }
217
+ },
218
+ "grasp_12": {
219
+ "confidence": 0.9857083559036255,
220
+ "position": [
221
+ 0.11201837752014399,
222
+ -0.012497780931880698,
223
+ -0.0017481253016740084
224
+ ],
225
+ "orientation": {
226
+ "w": 0.02015044609100493,
227
+ "xyz": [
228
+ -0.6941081530453298,
229
+ 0.011638101147986801,
230
+ 0.7194945350730638
231
+ ]
232
+ }
233
+ },
234
+ "grasp_13": {
235
+ "confidence": 0.9855126738548279,
236
+ "position": [
237
+ 0.11308518890291452,
238
+ 0.0030786389543209225,
239
+ -0.0017733622808009386
240
+ ],
241
+ "orientation": {
242
+ "w": 0.006959695867146687,
243
+ "xyz": [
244
+ -0.693914707127101,
245
+ 0.004049392895248638,
246
+ 0.7200121834270077
247
+ ]
248
+ }
249
+ },
250
+ "grasp_14": {
251
+ "confidence": 0.9852892756462097,
252
+ "position": [
253
+ 0.11732799652963877,
254
+ -0.02297546257614158,
255
+ -0.0028853907715529203
256
+ ],
257
+ "orientation": {
258
+ "w": 0.01163285025478243,
259
+ "xyz": [
260
+ -0.700322911392966,
261
+ -0.011118014094945727,
262
+ 0.7136447900290553
263
+ ]
264
+ }
265
+ },
266
+ "grasp_15": {
267
+ "confidence": 0.985032856464386,
268
+ "position": [
269
+ 0.11332660261541605,
270
+ 0.043553427705774084,
271
+ -0.0034679698292165995
272
+ ],
273
+ "orientation": {
274
+ "w": 0.12153707138114475,
275
+ "xyz": [
276
+ 0.6867995027595185,
277
+ 0.0797118233141263,
278
+ -0.7121665595303605
279
+ ]
280
+ }
281
+ },
282
+ "grasp_16": {
283
+ "confidence": 0.9845938682556152,
284
+ "position": [
285
+ 0.11361920181661844,
286
+ -0.005604287231108174,
287
+ -0.004062966676428914
288
+ ],
289
+ "orientation": {
290
+ "w": 0.012382027357850807,
291
+ "xyz": [
292
+ -0.6913804564552203,
293
+ -0.007739962554822566,
294
+ 0.7223432998304419
295
+ ]
296
+ }
297
+ },
298
+ "grasp_17": {
299
+ "confidence": 0.984406590461731,
300
+ "position": [
301
+ 0.11267595086246729,
302
+ -0.0071754321397747844,
303
+ -0.0018741909880191088
304
+ ],
305
+ "orientation": {
306
+ "w": 0.008387749240442109,
307
+ "xyz": [
308
+ -0.7019151704085907,
309
+ -0.028291854284643425,
310
+ 0.7116490077236781
311
+ ]
312
+ }
313
+ },
314
+ "grasp_18": {
315
+ "confidence": 0.9843617677688599,
316
+ "position": [
317
+ 0.11880514118820429,
318
+ 0.003789486741879955,
319
+ -0.00042582000605762005
320
+ ],
321
+ "orientation": {
322
+ "w": 0.005995400469513186,
323
+ "xyz": [
324
+ -0.7024411339353611,
325
+ -0.022979223282462047,
326
+ 0.7113455305448603
327
+ ]
328
+ }
329
+ },
330
+ "grasp_19": {
331
+ "confidence": 0.9838441014289856,
332
+ "position": [
333
+ 0.11969871912151575,
334
+ 0.005176953418413177,
335
+ -0.0037222907412797213
336
+ ],
337
+ "orientation": {
338
+ "w": 0.005604790027837974,
339
+ "xyz": [
340
+ -0.6912894969853094,
341
+ 0.0005072970630448648,
342
+ 0.7225559911427147
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "printed label graphics",
350
+ "mask_color": "Purple",
351
+ "graspable": false,
352
+ "grasp_scenarios": [],
353
+ "functional_labels": [
354
+ "provide product identification",
355
+ "show branding",
356
+ "display text information",
357
+ "indicate orientation"
358
+ ],
359
+ "semantic_description": "Red and black printed logos, numbers, and Chinese text on the off-white carton surfaces, appearing as flat matte ink markings on the exterior panels.",
360
+ "id": 5,
361
+ "grasp_group": {}
362
+ }
363
+ ],
364
+ "quality_check": {
365
+ "success": true,
366
+ "message": "YES"
367
+ }
368
+ }
dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:194aac119359485decb782dcb3243b6b24a5708cb527abb3e4abe378d8f06d9e
3
+ size 3784020
dataset/bathroom_supplies/personal_care/ee858b88c0525866bac3955a5c5ee98c/dental_floss_007.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  <quality>
57
  <PartSegChecker>YES</PartSegChecker>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  <quality>
58
  <PartSegChecker>YES</PartSegChecker>