xinjjj commited on
Commit
8d41ff6
·
verified ·
1 Parent(s): 45145d7

Add asset bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7

Browse files
.gitattributes CHANGED
@@ -5660,3 +5660,4 @@ dataset/bathroom_supplies/bath_products/a5ecb339269b59fd801df53a8a1b53a5/afforda
5660
  dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5661
  dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5662
  dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5660
  dataset/bathroom_supplies/bath_products/a6e1a511301b5223b0b2d02b7dea79bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5661
  dataset/bathroom_supplies/bath_products/a6e31dc14a7350519373879b76b831c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5662
  dataset/bathroom_supplies/bath_products/a8e333525cd4543a9a63666470390090/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5663
+ dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,196 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "scrubbing face of sponge",
5
+ "mask_color": "Green",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "absorb liquid",
10
+ "scrub surfaces",
11
+ "apply soap or cleaner",
12
+ "provide porous cleaning surface"
13
+ ],
14
+ "semantic_description": "The top face is a light tan foam surface with a matte finish, soft compressible texture, and many large irregular pores, forming the main circular cleaning side of the sponge.",
15
+ "id": 1,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "body of sponge",
20
+ "mask_color": "Red",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the sponge body from the sides to pick it up",
25
+ "confidence": 0.95
26
+ },
27
+ {
28
+ "scenario": "hold the sponge body while wiping or scrubbing a surface",
29
+ "confidence": 0.96
30
+ },
31
+ {
32
+ "scenario": "compress the sponge body to squeeze out absorbed water",
33
+ "confidence": 0.9
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "main grasp surface",
38
+ "support scrubbing face",
39
+ "compress to release liquid",
40
+ "provide bulk absorbent body"
41
+ ],
42
+ "semantic_description": "The main body is a light beige foam cylinder with a matte finish, soft springy texture, rounded sides and bottom, and no visible markings, making up most of the sponge's volume.",
43
+ "id": 0,
44
+ "grasp_group": {
45
+ "grasp_1": {
46
+ "confidence": 0.19506828486919403,
47
+ "position": [
48
+ -0.0006395113159669563,
49
+ -0.038727070786990225,
50
+ -0.09891953133046627
51
+ ],
52
+ "orientation": {
53
+ "w": 0.9846899137073462,
54
+ "xyz": [
55
+ -0.15321270198244727,
56
+ 0.02407135648576797,
57
+ 0.0795751945721254
58
+ ]
59
+ }
60
+ },
61
+ "grasp_2": {
62
+ "confidence": 0.18790899217128754,
63
+ "position": [
64
+ 0.0007741261506453156,
65
+ 0.01137147971894592,
66
+ 0.09089072234928608
67
+ ],
68
+ "orientation": {
69
+ "w": 0.04679884154998524,
70
+ "xyz": [
71
+ 0.8822782041387941,
72
+ 0.4683620401099575,
73
+ 0.0056602398573475455
74
+ ]
75
+ }
76
+ },
77
+ "grasp_3": {
78
+ "confidence": 0.1823093742132187,
79
+ "position": [
80
+ -0.0190431548980996,
81
+ 0.03474893083330244,
82
+ -0.10182151012122631
83
+ ],
84
+ "orientation": {
85
+ "w": 0.18148155932308463,
86
+ "xyz": [
87
+ -0.035158197098649875,
88
+ 0.12481784321061362,
89
+ -0.9748070838984937
90
+ ]
91
+ }
92
+ },
93
+ "grasp_4": {
94
+ "confidence": 0.1793602854013443,
95
+ "position": [
96
+ 0.002943304949440062,
97
+ 0.013870086870156229,
98
+ -0.1021252553910017
99
+ ],
100
+ "orientation": {
101
+ "w": 0.844302281579056,
102
+ "xyz": [
103
+ 0.04293748707717227,
104
+ -0.0096269658103727,
105
+ 0.5340574417168846
106
+ ]
107
+ }
108
+ },
109
+ "grasp_9": {
110
+ "confidence": 0.16979120671749115,
111
+ "position": [
112
+ -0.033378824475221336,
113
+ 0.022014832473360002,
114
+ -0.09990396164357662
115
+ ],
116
+ "orientation": {
117
+ "w": 0.4988539047876447,
118
+ "xyz": [
119
+ -0.06502317510429573,
120
+ 0.1351203775665495,
121
+ -0.8536154004841693
122
+ ]
123
+ }
124
+ },
125
+ "grasp_11": {
126
+ "confidence": 0.1607775092124939,
127
+ "position": [
128
+ 0.059596125152893364,
129
+ 0.015673706657253206,
130
+ -0.09941785596311092
131
+ ],
132
+ "orientation": {
133
+ "w": 0.5806310469100407,
134
+ "xyz": [
135
+ 0.20856996097751468,
136
+ -0.09459205244369906,
137
+ -0.7812928403335571
138
+ ]
139
+ }
140
+ },
141
+ "grasp_16": {
142
+ "confidence": 0.150236114859581,
143
+ "position": [
144
+ -0.013881088118068874,
145
+ 0.0044658571714535356,
146
+ -0.10357079468667507
147
+ ],
148
+ "orientation": {
149
+ "w": 0.6340453725892354,
150
+ "xyz": [
151
+ -0.007328789718482815,
152
+ 0.030107078054414482,
153
+ -0.7726747816452048
154
+ ]
155
+ }
156
+ },
157
+ "grasp_17": {
158
+ "confidence": 0.14803262054920197,
159
+ "position": [
160
+ -0.019004803034476936,
161
+ 0.018152581877075136,
162
+ 0.08859245665371418
163
+ ],
164
+ "orientation": {
165
+ "w": 0.0105527634884571,
166
+ "xyz": [
167
+ 0.5755056816864301,
168
+ -0.8149343531821368,
169
+ 0.0675562693834229
170
+ ]
171
+ }
172
+ },
173
+ "grasp_19": {
174
+ "confidence": 0.1445094794034958,
175
+ "position": [
176
+ -0.05674653116147965,
177
+ 0.00412266340572387,
178
+ -0.09999283216893673
179
+ ],
180
+ "orientation": {
181
+ "w": 0.830775383090394,
182
+ "xyz": [
183
+ 0.09677418362684055,
184
+ 0.17120573881040546,
185
+ 0.520706841930035
186
+ ]
187
+ }
188
+ }
189
+ }
190
+ }
191
+ ],
192
+ "quality_check": {
193
+ "success": true,
194
+ "message": "YES"
195
+ }
196
+ }
dataset/bathroom_supplies/bath_products/a921637376455595b6de2a08454ed5e7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7abdb54bc25d6030c3f553245153e6c41855306fb58b159f73815084ee6618ac
3
+ size 3780272