Add asset bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211
Browse files
.gitattributes
CHANGED
|
@@ -5601,3 +5601,4 @@ dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/afforda
|
|
| 5601 |
dataset/bathroom_supplies/bath_products/4b76212f869a55f1a89aed1211ee7490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5602 |
dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5603 |
dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5601 |
dataset/bathroom_supplies/bath_products/4b76212f869a55f1a89aed1211ee7490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5602 |
dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5603 |
dataset/bathroom_supplies/bath_products/4ea43ae5d74a50cd9a87a7754d3da0de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5604 |
+
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,376 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top broad foam face",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sponge across the top and bottom broad faces to pick it up",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sponge by compressing this broad face during wiping or scrubbing",
|
| 14 |
+
"confidence": 0.87
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"wipe surfaces",
|
| 19 |
+
"scrub messes",
|
| 20 |
+
"provide a broad contact surface",
|
| 21 |
+
"absorb and spread cleaning liquid"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large round pale lavender foam face with a matte finish, soft compressible texture, and mostly smooth flat surface on the top side, with a small embossed logo near the center.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.37845587730407715,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10928480898292037,
|
| 30 |
+
-0.0032831893768161535,
|
| 31 |
+
0.047093822504393756
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3473653297767354,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6354254496931067,
|
| 37 |
+
0.5820330230357651,
|
| 38 |
+
0.3698775279024958
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.37781742215156555,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.06294394110591384,
|
| 46 |
+
0.009288641391322017,
|
| 47 |
+
0.08605921908747405
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.1995047434838265,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6035076989532441,
|
| 53 |
+
0.739220343492783,
|
| 54 |
+
-0.2225524621252801
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.36942997574806213,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.05821233441383811,
|
| 62 |
+
0.018127878895029426,
|
| 63 |
+
0.08745269372593611
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.21404660480879084,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.7692011413290869,
|
| 69 |
+
0.5805427577411141,
|
| 70 |
+
0.1596363416713193
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.3611598312854767,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.03784201120288344,
|
| 78 |
+
0.002963879844173789,
|
| 79 |
+
0.09314878180157393
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.1585505275616241,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6162349124661085,
|
| 85 |
+
0.7566960478470144,
|
| 86 |
+
-0.1500911524391983
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.35677602887153625,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.058287324507546145,
|
| 94 |
+
0.006234629778191447,
|
| 95 |
+
0.08695769205223769
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.1831357357949658,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.7453031959864354,
|
| 101 |
+
0.6161782945084662,
|
| 102 |
+
0.17694280913300642
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_8": {
|
| 107 |
+
"confidence": 0.341141939163208,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.055289676536631305,
|
| 110 |
+
0.012307413620874286,
|
| 111 |
+
0.08749941631685942
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.18019584909913772,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.6085081697342105,
|
| 117 |
+
0.7397552133676554,
|
| 118 |
+
-0.22362801172826513
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_9": {
|
| 123 |
+
"confidence": 0.34022316336631775,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.06441283797175856,
|
| 126 |
+
-0.0028437217697501183,
|
| 127 |
+
0.08252910419832915
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.2275393112807745,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.6280553988880384,
|
| 133 |
+
0.7185808492107281,
|
| 134 |
+
-0.19342657753536938
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_10": {
|
| 139 |
+
"confidence": 0.339502215385437,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.054664159317326266,
|
| 142 |
+
0.010912426514551044,
|
| 143 |
+
0.08333537622820586
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.1949584568590119,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.5963612412014632,
|
| 149 |
+
0.7467454818337701,
|
| 150 |
+
-0.22071623287074568
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_11": {
|
| 155 |
+
"confidence": 0.3313905596733093,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.005837177515786607,
|
| 158 |
+
0.011085540754720569,
|
| 159 |
+
0.10106485232245177
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.04349416584793761,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.8668627830550653,
|
| 165 |
+
0.49627152919112827,
|
| 166 |
+
0.019280617353141315
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_12": {
|
| 171 |
+
"confidence": 0.33094385266304016,
|
| 172 |
+
"position": [
|
| 173 |
+
0.05526837135403184,
|
| 174 |
+
-0.017880995059385896,
|
| 175 |
+
0.08955709531437606
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.14636799304837625,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.576773994193093,
|
| 181 |
+
-0.7746323774225632,
|
| 182 |
+
-0.21413278609826036
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_14": {
|
| 187 |
+
"confidence": 0.3199184238910675,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.1084123087421176,
|
| 190 |
+
0.015992831205949187,
|
| 191 |
+
0.04641958593856543
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.343545962744186,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.5482997816362034,
|
| 197 |
+
0.6494973364312311,
|
| 198 |
+
-0.3993704181691453
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_15": {
|
| 203 |
+
"confidence": 0.31937742233276367,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.017749391619872767,
|
| 206 |
+
-0.0030405858997255564,
|
| 207 |
+
0.10239750787150115
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.050985236355747844,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.6681374828835911,
|
| 213 |
+
0.7420979048994193,
|
| 214 |
+
-0.016837730952235373
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_17": {
|
| 219 |
+
"confidence": 0.3154410719871521,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.06051501830370398,
|
| 222 |
+
0.007457412546500564,
|
| 223 |
+
0.08538544818293303
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.1841766793857594,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.770520114595648,
|
| 229 |
+
0.5791424045301006,
|
| 230 |
+
0.1922804697545713
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_19": {
|
| 235 |
+
"confidence": 0.31242796778678894,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.07047761057765456,
|
| 238 |
+
-0.012534307548776269,
|
| 239 |
+
0.08633572503458709
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.24594786362569807,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.6753871101768991,
|
| 245 |
+
0.6700532646913769,
|
| 246 |
+
-0.1854468178785482
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "bottom broad foam face",
|
| 254 |
+
"mask_color": "Green",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp the sponge across the two broad faces to lift or reposition it",
|
| 259 |
+
"confidence": 0.9
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "press this broad underside against a surface for wiping or scrubbing",
|
| 263 |
+
"confidence": 0.84
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"functional_labels": [
|
| 267 |
+
"wipe surfaces",
|
| 268 |
+
"scrub messes",
|
| 269 |
+
"provide opposing contact surface",
|
| 270 |
+
"absorb cleaning liquid"
|
| 271 |
+
],
|
| 272 |
+
"semantic_description": "Large round pale lavender foam face with a matte finish, soft compressible texture, and smooth flat appearance forming the bottom side of the sponge.",
|
| 273 |
+
"id": 1,
|
| 274 |
+
"grasp_group": {
|
| 275 |
+
"grasp_21": {
|
| 276 |
+
"confidence": 0.05138873681426048,
|
| 277 |
+
"position": [
|
| 278 |
+
0.02027730817644624,
|
| 279 |
+
-0.09010230586864054,
|
| 280 |
+
-0.05925769836176187
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.0312629805953371,
|
| 284 |
+
"xyz": [
|
| 285 |
+
0.058588565288910974,
|
| 286 |
+
-0.5008433266599618,
|
| 287 |
+
-0.862986655865469
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_25": {
|
| 292 |
+
"confidence": 0.12544536590576172,
|
| 293 |
+
"position": [
|
| 294 |
+
-0.10316140775830718,
|
| 295 |
+
0.010682110441848636,
|
| 296 |
+
0.02524642169009894
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.38634885225118487,
|
| 300 |
+
"xyz": [
|
| 301 |
+
-0.5481912255020296,
|
| 302 |
+
0.6150377647381537,
|
| 303 |
+
-0.4146679305090647
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_32": {
|
| 308 |
+
"confidence": 0.11100448668003082,
|
| 309 |
+
"position": [
|
| 310 |
+
0.02002117584197549,
|
| 311 |
+
-0.05199777171947062,
|
| 312 |
+
-0.09621384099591523
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.970217710880344,
|
| 316 |
+
"xyz": [
|
| 317 |
+
-0.23522122305817963,
|
| 318 |
+
-0.05236892610292798,
|
| 319 |
+
0.024618393447681908
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
},
|
| 323 |
+
"grasp_36": {
|
| 324 |
+
"confidence": 0.9937431216239929,
|
| 325 |
+
"position": [
|
| 326 |
+
-0.04434030329139205,
|
| 327 |
+
-0.1227978600654751,
|
| 328 |
+
-0.007525641587562859
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
+
"w": 0.5926889667382987,
|
| 332 |
+
"xyz": [
|
| 333 |
+
-0.3781568751606298,
|
| 334 |
+
0.5690673488008349,
|
| 335 |
+
0.4264733508722715
|
| 336 |
+
]
|
| 337 |
+
}
|
| 338 |
+
},
|
| 339 |
+
"grasp_38": {
|
| 340 |
+
"confidence": 0.9931720495223999,
|
| 341 |
+
"position": [
|
| 342 |
+
-0.09953746025712462,
|
| 343 |
+
-0.08363392041064799,
|
| 344 |
+
-0.006074476637877524
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
+
"w": 0.23070469109541528,
|
| 348 |
+
"xyz": [
|
| 349 |
+
-0.6604153236752265,
|
| 350 |
+
-0.2220750750863988,
|
| 351 |
+
-0.6791977670655918
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"part_name": "embossed logo",
|
| 359 |
+
"mask_color": "Blue",
|
| 360 |
+
"graspable": false,
|
| 361 |
+
"grasp_scenarios": [],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"brand marking",
|
| 364 |
+
"surface identification",
|
| 365 |
+
"indicate orientation"
|
| 366 |
+
],
|
| 367 |
+
"semantic_description": "Small raised pale lavender logo on the top face, made from the same soft foam material with a matte smooth finish and shallow irregular outline near the center.",
|
| 368 |
+
"id": 2,
|
| 369 |
+
"grasp_group": {}
|
| 370 |
+
}
|
| 371 |
+
],
|
| 372 |
+
"quality_check": {
|
| 373 |
+
"success": true,
|
| 374 |
+
"message": "YES"
|
| 375 |
+
}
|
| 376 |
+
}
|
dataset/bathroom_supplies/bath_products/52269e5ccf0a5ec6b7c82e8522747211/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1bb8b38d25af8a4140705061edd9b619a6594c4777774afb170b0606bf7a1c1f
|
| 3 |
+
size 3781696
|