xinjjj commited on
Commit
612c44b
·
verified ·
1 Parent(s): 784ed83

Add asset bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536

Browse files
.gitattributes CHANGED
@@ -8000,3 +8000,4 @@ dataset/bathroom_supplies/personal_care/803b9369ca7f57368ca4fc94ee434a9f/afforda
8000
  dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8001
  dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8002
  dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8000
  dataset/bathroom_supplies/personal_care/805b6705d7885672b10350340063f862/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8001
  dataset/bathroom_supplies/personal_care/815906c6d07159d1b94ddcd5efe09f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8002
  dataset/bathroom_supplies/personal_care/82fa95eeb39e53668740ca4908b131ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8003
+ dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/affordance_annot.json ADDED
@@ -0,0 +1,305 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "small plastic tool",
5
+ "mask_color": "Magenta",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch and lift the small tool out of the case",
10
+ "confidence": 0.89
11
+ },
12
+ {
13
+ "scenario": "hold the narrow middle section to manipulate the tool during use",
14
+ "confidence": 0.74
15
+ },
16
+ {
17
+ "scenario": "reposition the tool back into the fitted case interior",
18
+ "confidence": 0.8
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "removable accessory/tool",
23
+ "handheld manipulation piece",
24
+ "stored insert within the case"
25
+ ],
26
+ "semantic_description": "Small white plastic tool with a smooth slightly matte finish, an oval finger-loop on one end and an open wrench-like head on the other, resting inside the case.",
27
+ "id": 7,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.6822457909584045,
31
+ "position": [
32
+ 0.013359484262764454,
33
+ -0.11588422080967575,
34
+ -0.02519066585227847
35
+ ],
36
+ "orientation": {
37
+ "w": 0.5737785637647581,
38
+ "xyz": [
39
+ -0.4619767095008759,
40
+ -0.43112276566661334,
41
+ -0.5210459102293817
42
+ ]
43
+ }
44
+ }
45
+ }
46
+ },
47
+ {
48
+ "part_name": "storage case",
49
+ "mask_color": "Pink",
50
+ "graspable": true,
51
+ "grasp_scenarios": [
52
+ {
53
+ "scenario": "grasp the case body to pick up and carry the object",
54
+ "confidence": 0.95
55
+ },
56
+ {
57
+ "scenario": "hold the case while opening or closing the clamshell halves",
58
+ "confidence": 0.89
59
+ },
60
+ {
61
+ "scenario": "stabilize the case while removing or replacing the internal tool",
62
+ "confidence": 0.86
63
+ }
64
+ ],
65
+ "functional_labels": [
66
+ "protect the internal tool",
67
+ "contain the tool",
68
+ "support opening and closing",
69
+ "provide portable storage"
70
+ ],
71
+ "semantic_description": "Rounded rectangular gray clamshell case with a smooth matte hard exterior, zipper around the edge, and a fitted interior that holds the small white tool.",
72
+ "id": 8,
73
+ "grasp_group": {
74
+ "grasp_1": {
75
+ "confidence": 0.9499666094779968,
76
+ "position": [
77
+ 0.12099441047757864,
78
+ 0.03108402283396572,
79
+ -0.017782004084438086
80
+ ],
81
+ "orientation": {
82
+ "w": 0.008747660052966426,
83
+ "xyz": [
84
+ 0.6827210113792753,
85
+ -0.00020750798921720381,
86
+ -0.730626755604592
87
+ ]
88
+ }
89
+ },
90
+ "grasp_2": {
91
+ "confidence": 0.9491143822669983,
92
+ "position": [
93
+ 0.12199845816940069,
94
+ -0.007742912159301341,
95
+ -0.017030421178787947
96
+ ],
97
+ "orientation": {
98
+ "w": 0.005768071610723108,
99
+ "xyz": [
100
+ -0.6836862625009116,
101
+ 0.00983573293200879,
102
+ 0.7296869754731257
103
+ ]
104
+ }
105
+ },
106
+ "grasp_3": {
107
+ "confidence": 0.9452201724052429,
108
+ "position": [
109
+ 0.12330950703471899,
110
+ -0.020221008569933474,
111
+ -0.022750440519303083
112
+ ],
113
+ "orientation": {
114
+ "w": 0.002478044715402839,
115
+ "xyz": [
116
+ -0.6767057446771414,
117
+ -0.0017187912890360701,
118
+ 0.736247404186833
119
+ ]
120
+ }
121
+ },
122
+ "grasp_5": {
123
+ "confidence": 0.9417617321014404,
124
+ "position": [
125
+ 0.11707264836877584,
126
+ -0.024159497232176363,
127
+ -0.03073268150910735
128
+ ],
129
+ "orientation": {
130
+ "w": 0.06791515440956025,
131
+ "xyz": [
132
+ -0.6473325199998016,
133
+ 0.04476333917784647,
134
+ 0.7578551205988394
135
+ ]
136
+ }
137
+ },
138
+ "grasp_6": {
139
+ "confidence": 0.9404258728027344,
140
+ "position": [
141
+ 0.1241538068279624,
142
+ -0.022327546612359583,
143
+ -0.021873473655432463
144
+ ],
145
+ "orientation": {
146
+ "w": 0.009122200575712388,
147
+ "xyz": [
148
+ -0.6811914750064761,
149
+ 0.008554142058075032,
150
+ 0.7319984880372419
151
+ ]
152
+ }
153
+ },
154
+ "grasp_7": {
155
+ "confidence": 0.939967691898346,
156
+ "position": [
157
+ 0.11700339522212744,
158
+ -0.0024579811142757535,
159
+ -0.028285525273531675
160
+ ],
161
+ "orientation": {
162
+ "w": 0.7717820349082964,
163
+ "xyz": [
164
+ 0.022871994104466324,
165
+ -0.6351593795119764,
166
+ -0.020048069644127364
167
+ ]
168
+ }
169
+ },
170
+ "grasp_10": {
171
+ "confidence": 0.9371500611305237,
172
+ "position": [
173
+ 0.1188207408413291,
174
+ 0.006494260276667774,
175
+ -0.03165392717346549
176
+ ],
177
+ "orientation": {
178
+ "w": 0.7640837875109797,
179
+ "xyz": [
180
+ 0.002702836205347323,
181
+ -0.6447646656885356,
182
+ -0.021146777978550062
183
+ ]
184
+ }
185
+ },
186
+ "grasp_11": {
187
+ "confidence": 0.9368765354156494,
188
+ "position": [
189
+ -0.009815584868192673,
190
+ 0.04971696191933006,
191
+ 0.11732605705037713
192
+ ],
193
+ "orientation": {
194
+ "w": 0.008957817356313234,
195
+ "xyz": [
196
+ 0.05418086156296625,
197
+ 0.9782718878308297,
198
+ -0.19992074736857715
199
+ ]
200
+ }
201
+ },
202
+ "grasp_12": {
203
+ "confidence": 0.9362866878509521,
204
+ "position": [
205
+ 0.11842608358711004,
206
+ -0.011312241316772997,
207
+ -0.032908310648053885
208
+ ],
209
+ "orientation": {
210
+ "w": 0.7655724248184101,
211
+ "xyz": [
212
+ -0.0016901889262989664,
213
+ -0.6433205544683421,
214
+ -0.005888108151087804
215
+ ]
216
+ }
217
+ },
218
+ "grasp_13": {
219
+ "confidence": 0.9361286759376526,
220
+ "position": [
221
+ 0.121428064070642,
222
+ -0.022747357026673853,
223
+ -0.021068842615932226
224
+ ],
225
+ "orientation": {
226
+ "w": 0.04613687960223459,
227
+ "xyz": [
228
+ -0.6863069766933743,
229
+ 0.023448997988859688,
230
+ 0.7254683084572939
231
+ ]
232
+ }
233
+ },
234
+ "grasp_15": {
235
+ "confidence": 0.9347219467163086,
236
+ "position": [
237
+ 0.1144710024818778,
238
+ 0.02713501953985542,
239
+ -0.007303997408598661
240
+ ],
241
+ "orientation": {
242
+ "w": 0.01853355651213046,
243
+ "xyz": [
244
+ 0.703395958718669,
245
+ 0.006921489118875357,
246
+ -0.7105228536293771
247
+ ]
248
+ }
249
+ },
250
+ "grasp_17": {
251
+ "confidence": 0.9342755675315857,
252
+ "position": [
253
+ 0.11992476042360067,
254
+ -0.034327416331507266,
255
+ -0.019958627875894308
256
+ ],
257
+ "orientation": {
258
+ "w": 0.09781782049099846,
259
+ "xyz": [
260
+ -0.6824652791265118,
261
+ 0.06433773439750956,
262
+ 0.7214800570450711
263
+ ]
264
+ }
265
+ },
266
+ "grasp_18": {
267
+ "confidence": 0.9340653419494629,
268
+ "position": [
269
+ 0.12222981359809637,
270
+ -0.006073762779124081,
271
+ -0.021256191190332174
272
+ ],
273
+ "orientation": {
274
+ "w": 0.017053925436234126,
275
+ "xyz": [
276
+ 0.6791046637355052,
277
+ 0.010283086432648192,
278
+ -0.7337712705287119
279
+ ]
280
+ }
281
+ },
282
+ "grasp_19": {
283
+ "confidence": 0.9340225458145142,
284
+ "position": [
285
+ 0.11762954201549292,
286
+ 0.0010539006325416267,
287
+ -0.025373612996190786
288
+ ],
289
+ "orientation": {
290
+ "w": 0.7492794375481232,
291
+ "xyz": [
292
+ 0.004993033619169153,
293
+ -0.66210474568597,
294
+ -0.013141530464990867
295
+ ]
296
+ }
297
+ }
298
+ }
299
+ }
300
+ ],
301
+ "quality_check": {
302
+ "success": true,
303
+ "message": "YES"
304
+ }
305
+ }
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:704355a3fcd419c47698df183e4597658e98bc62844fd7835de4af90f497bdd5
3
+ size 3779384
dataset/bathroom_supplies/personal_care/846e9c88e28a5168a9dfb87186b04536/dental_floss_012.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>