xinjjj commited on
Commit
5f2eff9
·
verified ·
1 Parent(s): abb8f67

Add asset bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395

Browse files
.gitattributes CHANGED
@@ -7981,3 +7981,4 @@ dataset/bathroom_supplies/personal_care/7312ad1efe5553e7ab3f2947fc438272/afforda
7981
  dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7982
  dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7981
  dataset/bathroom_supplies/personal_care/732a566c04015723879b2ab19da65695/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7982
  dataset/bathroom_supplies/personal_care/732f9e8ac9a2534baf6f7ffe1ca3c864/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7983
  dataset/bathroom_supplies/personal_care/749f04a120ec5b5a8c42557aad516648/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7984
+ dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/affordance_annot.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "hair clip body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the clip body from the sides to pick up and reposition the hair clip",
10
+ "confidence": 0.91
11
+ },
12
+ {
13
+ "scenario": "hold the clip body while opening the spring clip mechanism",
14
+ "confidence": 0.83
15
+ },
16
+ {
17
+ "scenario": "grasp the body to place or remove the clip from hair or a surface",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "clamp hair",
23
+ "provide the main grasp surface",
24
+ "cover the spring clip mechanism",
25
+ "stabilize the clip during opening",
26
+ "provide decorative outer shell"
27
+ ],
28
+ "semantic_description": "Curved medium-sized barrette body in warm brown to bronze-toned material, likely hard plastic or metal, with a smooth slightly glossy finish, engraved floral scrollwork and an oval central motif on the outer top surface.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9681215882301331,
33
+ "position": [
34
+ 0.024569403292844072,
35
+ -0.10438465524930507,
36
+ -0.014872951709548943
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5435157299807638,
40
+ "xyz": [
41
+ -0.48026250656549774,
42
+ 0.4759686311497874,
43
+ 0.49738560314136504
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9649829268455505,
49
+ "position": [
50
+ -0.014965440233936533,
51
+ 0.10243624995928258,
52
+ -0.012398501203279011
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5052596448204459,
56
+ "xyz": [
57
+ 0.4828242300946063,
58
+ -0.4727882229398389,
59
+ 0.5367166388317542
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9637913703918457,
65
+ "position": [
66
+ 0.03216060242266394,
67
+ -0.10168820072431117,
68
+ -0.013371852503041737
69
+ ],
70
+ "orientation": {
71
+ "w": 0.537269093516565,
72
+ "xyz": [
73
+ -0.47116645383153516,
74
+ 0.4806266749341339,
75
+ 0.5082736401560307
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9634140729904175,
81
+ "position": [
82
+ 0.01078539519221522,
83
+ -0.10445656825322658,
84
+ -0.005505631022970192
85
+ ],
86
+ "orientation": {
87
+ "w": 0.48627366023195495,
88
+ "xyz": [
89
+ -0.46665478534627247,
90
+ -0.5083975693546663,
91
+ -0.5360066698766996
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9606742858886719,
97
+ "position": [
98
+ -0.00998347726999782,
99
+ 0.10148333560209721,
100
+ -0.011114581764559262
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5400559619834326,
104
+ "xyz": [
105
+ 0.49983456025078676,
106
+ 0.47045513344039847,
107
+ -0.48700814954642047
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9605981707572937,
113
+ "position": [
114
+ -0.008161887613823637,
115
+ -0.10306859959382564,
116
+ -0.0025549075071467087
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5192077066420691,
120
+ "xyz": [
121
+ -0.5223939981235084,
122
+ 0.4766628320097276,
123
+ 0.4799170893690763
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.960495114326477,
129
+ "position": [
130
+ -0.020048759964993224,
131
+ 0.09855058591347188,
132
+ -0.003347381527419202
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5021591744046686,
136
+ "xyz": [
137
+ 0.47582908300940446,
138
+ -0.5080419236191727,
139
+ 0.513143499587573
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9602803587913513,
145
+ "position": [
146
+ -0.01055330884992145,
147
+ 0.10410027753096074,
148
+ -0.0013823165063513443
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5167861772056224,
152
+ "xyz": [
153
+ 0.5189246407421784,
154
+ 0.4907994425499218,
155
+ -0.4719800541044997
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9599701762199402,
161
+ "position": [
162
+ -0.01113365319906734,
163
+ 0.10253455291967839,
164
+ -0.010966803223709576
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5412348418255041,
168
+ "xyz": [
169
+ 0.49358790385122336,
170
+ 0.48273370431171747,
171
+ -0.4800041644479395
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9593599438667297,
177
+ "position": [
178
+ -0.019921792758395895,
179
+ 0.1032848785398528,
180
+ 0.0022240522812353447
181
+ ],
182
+ "orientation": {
183
+ "w": 0.5063715572382167,
184
+ "xyz": [
185
+ 0.5488210269031125,
186
+ 0.469416120942846,
187
+ -0.47120253803234935
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9589359760284424,
193
+ "position": [
194
+ -0.0002594026445876807,
195
+ 0.10329827468376607,
196
+ -0.0019288848125142977
197
+ ],
198
+ "orientation": {
199
+ "w": 0.49710658767926774,
200
+ "xyz": [
201
+ 0.5468663118730321,
202
+ 0.44886238484257,
203
+ -0.5023393642725028
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9585956335067749,
209
+ "position": [
210
+ -0.030476640997221693,
211
+ -0.10350601573009044,
212
+ 0.0006275375053519383
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5267101480926389,
216
+ "xyz": [
217
+ -0.5227775394218608,
218
+ 0.4912418841534987,
219
+ 0.4560279327251514
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9582822322845459,
225
+ "position": [
226
+ -0.03101475545554422,
227
+ -0.0993319993140176,
228
+ -0.004855342485825531
229
+ ],
230
+ "orientation": {
231
+ "w": 0.47701188780436676,
232
+ "xyz": [
233
+ -0.4960474580071111,
234
+ -0.47639189082214684,
235
+ -0.5472178219474376
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.9582743644714355,
241
+ "position": [
242
+ -0.000592703145230189,
243
+ 0.1041568050859496,
244
+ -0.0014738435129402205
245
+ ],
246
+ "orientation": {
247
+ "w": 0.512943803139025,
248
+ "xyz": [
249
+ 0.5207656648866816,
250
+ 0.48850997565068355,
251
+ -0.4764974090025833
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9581727385520935,
257
+ "position": [
258
+ 0.033883672120282426,
259
+ -0.10891172487754375,
260
+ -0.003003286008606665
261
+ ],
262
+ "orientation": {
263
+ "w": 0.514297407847574,
264
+ "xyz": [
265
+ -0.49374952311118636,
266
+ 0.4985065884124259,
267
+ 0.49315389689035816
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.957861065864563,
273
+ "position": [
274
+ -0.021043699322035536,
275
+ -0.10354507912416011,
276
+ -0.0047377606824738905
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4793490689699686,
280
+ "xyz": [
281
+ -0.5110163310116418,
282
+ -0.46585187694545493,
283
+ -0.5404339073961043
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.957564651966095,
289
+ "position": [
290
+ -0.011294608091702685,
291
+ -0.10388329077977687,
292
+ -0.007691093531320803
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5351000151990787,
296
+ "xyz": [
297
+ -0.5067616624729787,
298
+ 0.4758364114739507,
299
+ 0.4800419780572965
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9565349817276001,
305
+ "position": [
306
+ -0.00856141754775308,
307
+ -0.1024106313707307,
308
+ -0.0011449418816482648
309
+ ],
310
+ "orientation": {
311
+ "w": 0.530791290170978,
312
+ "xyz": [
313
+ -0.5085929519338129,
314
+ 0.48704134099702057,
315
+ 0.4715766615108331
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9563707709312439,
321
+ "position": [
322
+ 0.039852868678281084,
323
+ -0.10971539665479213,
324
+ -0.009961703137378208
325
+ ],
326
+ "orientation": {
327
+ "w": 0.5124735316516057,
328
+ "xyz": [
329
+ -0.4985415896861582,
330
+ -0.474290051151247,
331
+ -0.5136887287927163
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ }
337
+ ],
338
+ "quality_check": {
339
+ "success": true,
340
+ "message": "YES"
341
+ }
342
+ }
dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8678f6f4eef3a374cc2d93c397124ae54f29720d4e2157c279b70c95fdebc1de
3
+ size 3777016
dataset/bathroom_supplies/personal_care/755807bf79de5ecdb72f7107d79c7395/hair_clip_014.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>