xinjjj commited on
Commit
9286e64
·
verified ·
1 Parent(s): 64bb37b

Add asset bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74

Browse files
.gitattributes CHANGED
@@ -5643,3 +5643,4 @@ dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/afforda
5643
  dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5644
  dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5645
  dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5643
  dataset/bathroom_supplies/bath_products/8a6d93e786ac500fb628cad2a1973770/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5644
  dataset/bathroom_supplies/bath_products/8b4a14f2ce1f534bb1effe230348baf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5645
  dataset/bathroom_supplies/bath_products/8d9ea5d0a7d0545f9c570bd3fcb5f36e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5646
+ dataset/bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74/affordance/affordance_annot.json ADDED
@@ -0,0 +1,422 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottom container body",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the container body from opposite side walls to pick up and move the object",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the lower body to stabilize it while opening or closing the lid",
14
+ "confidence": 0.9
15
+ },
16
+ {
17
+ "scenario": "grasp the body to reposition or place the container on a surface",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain stored items",
23
+ "provide structural support",
24
+ "serve as the main lower housing",
25
+ "support the object on a surface"
26
+ ],
27
+ "semantic_description": "Rectangular light gray or off-white plastic lower container with a matte smooth finish, rounded corners, slightly tapered side walls, and several horizontal slot-like features visible on one long side.",
28
+ "id": 2,
29
+ "grasp_group": {}
30
+ },
31
+ {
32
+ "part_name": "top lid",
33
+ "mask_color": "Green",
34
+ "graspable": true,
35
+ "grasp_scenarios": [
36
+ {
37
+ "scenario": "grasp the lid at opposite edges to lift or remove it from the container",
38
+ "confidence": 0.89
39
+ },
40
+ {
41
+ "scenario": "hold the top surface and edge to open or reposition the container",
42
+ "confidence": 0.8
43
+ }
44
+ ],
45
+ "functional_labels": [
46
+ "close the container",
47
+ "cover the contents",
48
+ "protect stored items",
49
+ "provide the upper enclosure surface"
50
+ ],
51
+ "semantic_description": "Flat rectangular light gray or off-white plastic lid with a matte smooth finish, rounded corners, and a broad slightly raised top surface covering the container opening.",
52
+ "id": 1,
53
+ "grasp_group": {
54
+ "grasp_20": {
55
+ "confidence": 0.043643537908792496,
56
+ "position": [
57
+ 0.0012340235989540815,
58
+ -0.08511072921101004,
59
+ 0.10612703510560095
60
+ ],
61
+ "orientation": {
62
+ "w": 0.253843611391706,
63
+ "xyz": [
64
+ -0.9671694071176715,
65
+ -0.011888334762524266,
66
+ -0.002329460848065405
67
+ ]
68
+ }
69
+ },
70
+ "grasp_21": {
71
+ "confidence": 0.022553076967597008,
72
+ "position": [
73
+ 0.012859531911090016,
74
+ 0.1256704352563247,
75
+ 0.08160112448967993
76
+ ],
77
+ "orientation": {
78
+ "w": 0.4397666275205535,
79
+ "xyz": [
80
+ 0.8978103933359907,
81
+ 0.0015836772843521585,
82
+ -0.02322289610128774
83
+ ]
84
+ }
85
+ },
86
+ "grasp_22": {
87
+ "confidence": 0.0184941329061985,
88
+ "position": [
89
+ -0.006024410715326667,
90
+ 0.1364593751495704,
91
+ 0.06940519460476935
92
+ ],
93
+ "orientation": {
94
+ "w": 0.5097147215142007,
95
+ "xyz": [
96
+ 0.8590726155631814,
97
+ -0.015600167436311319,
98
+ 0.044065617402846285
99
+ ]
100
+ }
101
+ },
102
+ "grasp_28": {
103
+ "confidence": 0.0572885163128376,
104
+ "position": [
105
+ -0.004212859785184264,
106
+ 0.015102424076758325,
107
+ 0.11877874680794775
108
+ ],
109
+ "orientation": {
110
+ "w": 0.03611370624728727,
111
+ "xyz": [
112
+ -0.001242299714600445,
113
+ 0.9992127031185483,
114
+ -0.016377754395159018
115
+ ]
116
+ }
117
+ },
118
+ "grasp_29": {
119
+ "confidence": 0.03742631897330284,
120
+ "position": [
121
+ 0.008470250526443124,
122
+ 0.06418966723140329,
123
+ 0.10682569839991629
124
+ ],
125
+ "orientation": {
126
+ "w": 0.2455510024007557,
127
+ "xyz": [
128
+ 0.9688175970463794,
129
+ -0.01455536807083449,
130
+ -0.029754161617933372
131
+ ]
132
+ }
133
+ },
134
+ "grasp_30": {
135
+ "confidence": 0.03345467522740364,
136
+ "position": [
137
+ -0.004400678211823106,
138
+ 0.10155063343700022,
139
+ 0.10211630561389029
140
+ ],
141
+ "orientation": {
142
+ "w": 0.29111457599172064,
143
+ "xyz": [
144
+ 0.956204594997337,
145
+ -0.006887843452242692,
146
+ 0.029624884197533945
147
+ ]
148
+ }
149
+ },
150
+ "grasp_34": {
151
+ "confidence": 0.07128889113664627,
152
+ "position": [
153
+ -0.004424655111506581,
154
+ -0.045434156083501875,
155
+ 0.11647428967989981
156
+ ],
157
+ "orientation": {
158
+ "w": 0.03271360873587448,
159
+ "xyz": [
160
+ -0.004907131708224484,
161
+ 0.9992974618231107,
162
+ -0.017615977286612183
163
+ ]
164
+ }
165
+ },
166
+ "grasp_36": {
167
+ "confidence": 0.06299689412117004,
168
+ "position": [
169
+ -0.007669320562854409,
170
+ -0.008238654234446585,
171
+ 0.1185061673168093
172
+ ],
173
+ "orientation": {
174
+ "w": 0.04851065058692281,
175
+ "xyz": [
176
+ -0.0001472026963269769,
177
+ 0.9985058199216539,
178
+ -0.025155967355373655
179
+ ]
180
+ }
181
+ },
182
+ "grasp_37": {
183
+ "confidence": 0.058730196207761765,
184
+ "position": [
185
+ -0.0040235621854662895,
186
+ 0.025963051593862474,
187
+ 0.1165448094252497
188
+ ],
189
+ "orientation": {
190
+ "w": 0.008281092773109537,
191
+ "xyz": [
192
+ -0.9992319380503427,
193
+ -0.023279276872956597,
194
+ -0.030414351068391365
195
+ ]
196
+ }
197
+ },
198
+ "grasp_38": {
199
+ "confidence": 0.05801716446876526,
200
+ "position": [
201
+ -0.003814171999692917,
202
+ 0.017712867236696184,
203
+ 0.11683116503991187
204
+ ],
205
+ "orientation": {
206
+ "w": 0.0340856556922871,
207
+ "xyz": [
208
+ 0.0061085661298473076,
209
+ 0.9992506084219901,
210
+ -0.017293786865397905
211
+ ]
212
+ }
213
+ },
214
+ "grasp_39": {
215
+ "confidence": 0.05496879294514656,
216
+ "position": [
217
+ 0.0021831600461155176,
218
+ 0.020173954195342958,
219
+ 0.11702372529543936
220
+ ],
221
+ "orientation": {
222
+ "w": 0.0009681423962646428,
223
+ "xyz": [
224
+ -0.9993836300568234,
225
+ -0.028939014741306016,
226
+ -0.019848327399289184
227
+ ]
228
+ }
229
+ }
230
+ }
231
+ },
232
+ {
233
+ "part_name": "lid edge lip",
234
+ "mask_color": "Red",
235
+ "graspable": true,
236
+ "grasp_scenarios": [
237
+ {
238
+ "scenario": "pinch the thin lid lip to pry up and separate the lid from the body",
239
+ "confidence": 0.67
240
+ },
241
+ {
242
+ "scenario": "use the lip as a light stabilizing contact while aligning the lid during closing",
243
+ "confidence": 0.55
244
+ }
245
+ ],
246
+ "functional_labels": [
247
+ "provide lid-body interface",
248
+ "help retain the lid on the container",
249
+ "define the lid perimeter",
250
+ "assist alignment during closing"
251
+ ],
252
+ "semantic_description": "Thin light gray or off-white plastic perimeter lip around the lid edge, with a smooth matte finish and narrow raised border tracing the rectangular outline.",
253
+ "id": 0,
254
+ "grasp_group": {
255
+ "grasp_0": {
256
+ "confidence": 0.9056081175804138,
257
+ "position": [
258
+ -0.1385426081251353,
259
+ 0.04059474391397089,
260
+ 0.00012872065417468548
261
+ ],
262
+ "orientation": {
263
+ "w": 0.7091677590820947,
264
+ "xyz": [
265
+ -0.004786062537765653,
266
+ 0.7050184691523107,
267
+ -0.0026723094875295765
268
+ ]
269
+ }
270
+ },
271
+ "grasp_2": {
272
+ "confidence": 0.870195746421814,
273
+ "position": [
274
+ -0.12224568496458232,
275
+ 0.05072504503186792,
276
+ 0.0025320924760308117
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6712022206920407,
280
+ "xyz": [
281
+ 0.20705529007773718,
282
+ 0.6869631022829494,
283
+ -0.18627233259580844
284
+ ]
285
+ }
286
+ },
287
+ "grasp_7": {
288
+ "confidence": 0.8889486789703369,
289
+ "position": [
290
+ -0.12615263531915843,
291
+ 0.08703685028012842,
292
+ -0.0019507610704749823
293
+ ],
294
+ "orientation": {
295
+ "w": 0.6935583160955862,
296
+ "xyz": [
297
+ 0.18704430665703742,
298
+ 0.6742929175167683,
299
+ -0.17123186300618146
300
+ ]
301
+ }
302
+ },
303
+ "grasp_9": {
304
+ "confidence": 0.9280906915664673,
305
+ "position": [
306
+ -0.13299143384210765,
307
+ 0.04245109704788774,
308
+ 0.0006839315174147487
309
+ ],
310
+ "orientation": {
311
+ "w": 0.6999137402306931,
312
+ "xyz": [
313
+ 0.006638540905294011,
314
+ 0.7141856897517077,
315
+ -0.003935297296082912
316
+ ]
317
+ }
318
+ },
319
+ "grasp_10": {
320
+ "confidence": 0.9198050498962402,
321
+ "position": [
322
+ -0.12182231317274272,
323
+ 0.02612654713448137,
324
+ 0.004760914482176304
325
+ ],
326
+ "orientation": {
327
+ "w": 0.19062142972860682,
328
+ "xyz": [
329
+ 0.6727339428502197,
330
+ -0.19836358276666755,
331
+ 0.6868365174460296
332
+ ]
333
+ }
334
+ },
335
+ "grasp_12": {
336
+ "confidence": 0.901126503944397,
337
+ "position": [
338
+ -0.12856958876363933,
339
+ 0.07102663291152567,
340
+ 0.002848170406650752
341
+ ],
342
+ "orientation": {
343
+ "w": 0.6882979087330169,
344
+ "xyz": [
345
+ 0.15598133775384188,
346
+ 0.6960825713306106,
347
+ -0.13185167801754782
348
+ ]
349
+ }
350
+ },
351
+ "grasp_14": {
352
+ "confidence": 0.8967463374137878,
353
+ "position": [
354
+ -0.13387180934660137,
355
+ 0.013348713866434991,
356
+ -0.0064047572668641806
357
+ ],
358
+ "orientation": {
359
+ "w": 0.7230199982612407,
360
+ "xyz": [
361
+ -0.00018616925360947112,
362
+ 0.6908182980792982,
363
+ 0.0034823116095662812
364
+ ]
365
+ }
366
+ },
367
+ "grasp_16": {
368
+ "confidence": 0.8849654793739319,
369
+ "position": [
370
+ -0.09089066158048809,
371
+ -0.1265120260650292,
372
+ 0.00464394292794168
373
+ ],
374
+ "orientation": {
375
+ "w": 0.6237063965854589,
376
+ "xyz": [
377
+ -0.3446066563096312,
378
+ 0.6213160601017645,
379
+ 0.3258879205265188
380
+ ]
381
+ }
382
+ },
383
+ "grasp_18": {
384
+ "confidence": 0.8769124150276184,
385
+ "position": [
386
+ -0.1209618158172816,
387
+ 0.043880479759536684,
388
+ 0.0018806953739840537
389
+ ],
390
+ "orientation": {
391
+ "w": 0.6791008131172528,
392
+ "xyz": [
393
+ 0.1906071021260702,
394
+ 0.6866462126677116,
395
+ -0.176090876741744
396
+ ]
397
+ }
398
+ },
399
+ "grasp_19": {
400
+ "confidence": 0.8726959228515625,
401
+ "position": [
402
+ -0.12364344368688762,
403
+ 0.08190652204211801,
404
+ -0.003127159783616662
405
+ ],
406
+ "orientation": {
407
+ "w": 0.6943796597531541,
408
+ "xyz": [
409
+ 0.19390950521000896,
410
+ 0.6715454409468846,
411
+ -0.17106347551057774
412
+ ]
413
+ }
414
+ }
415
+ }
416
+ }
417
+ ],
418
+ "quality_check": {
419
+ "success": true,
420
+ "message": "YES"
421
+ }
422
+ }
dataset/bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b790ec94b701790239dcc7b51c8980325d489084c501b0cb432107dea1feea43
3
+ size 3781420