xinjjj commited on
Commit
c5401f3
·
verified ·
1 Parent(s): f826dcd

Add asset bathroom_supplies/bath_products/dcc7de9faa4f5c18b8c40dee91c0c395

Browse files
.gitattributes CHANGED
@@ -5693,4 +5693,4 @@ dataset/bathroom_supplies/bath_products/d1e1665414425a88ba63780035f6dcc5/afforda
5693
  dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5694
  dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5695
  dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5696
- dataset/bathroom_supplies/bath_products/dcb851b9a0c95cc98da8cb843fa9dd1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5693
  dataset/bathroom_supplies/bath_products/d3990feee9c55cacae2a0be95e877ae4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5694
  dataset/bathroom_supplies/bath_products/d853db489fd0506a9232de3cacfb7fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5695
  dataset/bathroom_supplies/bath_products/dbe1330893bb5d40b36dcbdc2e15f646/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5696
+ dataset/bathroom_supplies/bath_products/dcc7de9faa4f5c18b8c40dee91c0c395/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/dcc7de9faa4f5c18b8c40dee91c0c395/affordance/affordance_annot.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "upper wedge body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the upper wedge body to pick up and move the sponge",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "hold the side of the upper body to press the sponge onto a surface while cleaning",
14
+ "confidence": 0.79
15
+ },
16
+ {
17
+ "scenario": "pinch the upper body near the tip to reorient the sponge for corner cleaning",
18
+ "confidence": 0.71
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide the main shaped body of the sponge",
23
+ "support the scrubbing surfaces",
24
+ "help reach into corners with the pointed tip",
25
+ "provide a primary gripping area"
26
+ ],
27
+ "semantic_description": "Large light blue upper section with a matte finish and soft foam texture, forming a tapered triangular wedge that covers most of the sponge and includes the pointed top and the textured dotted side faces.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9839802980422974,
32
+ "position": [
33
+ -0.0020192115480313078,
34
+ 0.1062579978024587,
35
+ 0.06030700774863362
36
+ ],
37
+ "orientation": {
38
+ "w": 0.44100681822585014,
39
+ "xyz": [
40
+ 0.8971144844282996,
41
+ 0.004497678392568427,
42
+ 0.026045325805902943
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9826976656913757,
48
+ "position": [
49
+ 0.001127582843764685,
50
+ 0.10790114139672369,
51
+ 0.05459753470495343
52
+ ],
53
+ "orientation": {
54
+ "w": 0.00021477151757452514,
55
+ "xyz": [
56
+ -0.003404390409262126,
57
+ 0.8874725515775101,
58
+ -0.46084795127638295
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9825068116188049,
64
+ "position": [
65
+ 0.001134463687776588,
66
+ 0.09158621763344854,
67
+ 0.0681241643615067
68
+ ],
69
+ "orientation": {
70
+ "w": 0.3370833289105461,
71
+ "xyz": [
72
+ 0.9414164989780875,
73
+ 0.00587838417412867,
74
+ 0.00867464246679708
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9824352860450745,
80
+ "position": [
81
+ -0.0005811261798953637,
82
+ 0.10484676843043417,
83
+ 0.06486948998644948
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4289426875095741,
87
+ "xyz": [
88
+ 0.9031515296880014,
89
+ 0.002418245899048932,
90
+ 0.01787840432082208
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9817852973937988,
96
+ "position": [
97
+ -0.0004952591407345608,
98
+ 0.09119895880576223,
99
+ 0.07010003598406911
100
+ ],
101
+ "orientation": {
102
+ "w": 0.37928453646360294,
103
+ "xyz": [
104
+ 0.9250497430028657,
105
+ 0.002550377642429491,
106
+ 0.020486799257161067
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9811253547668457,
112
+ "position": [
113
+ 0.0009738801600178704,
114
+ 0.10084369068499655,
115
+ 0.06673580082133412
116
+ ],
117
+ "orientation": {
118
+ "w": 0.3971801232849834,
119
+ "xyz": [
120
+ 0.9175464569810416,
121
+ 0.009115739974444481,
122
+ 0.01653336727894798
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9809308648109436,
128
+ "position": [
129
+ -0.0002256739580843714,
130
+ 0.11963079159613699,
131
+ 0.030827047768980265
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5465580142747464,
135
+ "xyz": [
136
+ 0.8371723613388072,
137
+ -0.005203367250076418,
138
+ 0.019740805751348102
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9807532429695129,
144
+ "position": [
145
+ -0.0012054002872901037,
146
+ 0.09678930079098791,
147
+ 0.05942292930558324
148
+ ],
149
+ "orientation": {
150
+ "w": 0.3852919465734216,
151
+ "xyz": [
152
+ 0.9225032717709076,
153
+ 0.0005077984627601673,
154
+ 0.02318559074848173
155
+ ]
156
+ }
157
+ },
158
+ "grasp_28": {
159
+ "confidence": 0.9807023406028748,
160
+ "position": [
161
+ 0.002200391361839138,
162
+ 0.11950398271437734,
163
+ 0.03227228345349431
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5401022642226664,
167
+ "xyz": [
168
+ 0.8412369076386244,
169
+ -0.018329045915795317,
170
+ 0.01655462122701854
171
+ ]
172
+ }
173
+ },
174
+ "grasp_29": {
175
+ "confidence": 0.9806978702545166,
176
+ "position": [
177
+ -0.0005133525555720553,
178
+ 0.12380162661429495,
179
+ 0.026872698683291674
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5909467036885669,
183
+ "xyz": [
184
+ 0.8064635396127041,
185
+ -0.001148830541442325,
186
+ 0.019930701526854284
187
+ ]
188
+ }
189
+ },
190
+ "grasp_30": {
191
+ "confidence": 0.9802025556564331,
192
+ "position": [
193
+ -0.0022815305419499055,
194
+ 0.12357274477835745,
195
+ 0.020557201001793146
196
+ ],
197
+ "orientation": {
198
+ "w": 0.6035342698167312,
199
+ "xyz": [
200
+ 0.7966405499123088,
201
+ -0.0060840342942591885,
202
+ 0.032759791191417344
203
+ ]
204
+ }
205
+ },
206
+ "grasp_31": {
207
+ "confidence": 0.9801810383796692,
208
+ "position": [
209
+ 0.0003742135450011119,
210
+ 0.10506511514540762,
211
+ 0.060923554468899965
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4528125409090801,
215
+ "xyz": [
216
+ 0.8913948190997452,
217
+ 0.0017894413234497142,
218
+ 0.019310027896026802
219
+ ]
220
+ }
221
+ },
222
+ "grasp_32": {
223
+ "confidence": 0.9801718592643738,
224
+ "position": [
225
+ 0.0001539873337605968,
226
+ 0.11413183098193258,
227
+ 0.04042778583243489
228
+ ],
229
+ "orientation": {
230
+ "w": 0.48174867010146827,
231
+ "xyz": [
232
+ 0.8761663398297357,
233
+ -0.0018752045109358129,
234
+ 0.015724102927451456
235
+ ]
236
+ }
237
+ },
238
+ "grasp_33": {
239
+ "confidence": 0.9801227450370789,
240
+ "position": [
241
+ 0.0023911555617814884,
242
+ 0.10418553685303777,
243
+ 0.06289100321009755
244
+ ],
245
+ "orientation": {
246
+ "w": 0.45267850907112184,
247
+ "xyz": [
248
+ 0.8916112465717152,
249
+ -0.0053203098928716885,
250
+ 0.009123963756059776
251
+ ]
252
+ }
253
+ },
254
+ "grasp_34": {
255
+ "confidence": 0.9800164699554443,
256
+ "position": [
257
+ -0.0004123417165828869,
258
+ 0.1311424303567037,
259
+ 0.011676555033773184
260
+ ],
261
+ "orientation": {
262
+ "w": 0.6074167575198858,
263
+ "xyz": [
264
+ 0.7941978911166413,
265
+ -0.005398520622380332,
266
+ 0.016292587424893583
267
+ ]
268
+ }
269
+ },
270
+ "grasp_35": {
271
+ "confidence": 0.9798194766044617,
272
+ "position": [
273
+ -0.0014756847085664049,
274
+ 0.09488602017518133,
275
+ 0.07191284419968724
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4091748438563621,
279
+ "xyz": [
280
+ 0.9122024138933529,
281
+ 0.014746624217744808,
282
+ 0.015660150588113306
283
+ ]
284
+ }
285
+ },
286
+ "grasp_36": {
287
+ "confidence": 0.9798096418380737,
288
+ "position": [
289
+ -0.0006272341852309182,
290
+ 0.12767008726950735,
291
+ 0.01763147907331586
292
+ ],
293
+ "orientation": {
294
+ "w": 0.6195924001848824,
295
+ "xyz": [
296
+ 0.784668406249465,
297
+ 0.0011491511508489038,
298
+ 0.01998572787500798
299
+ ]
300
+ }
301
+ },
302
+ "grasp_37": {
303
+ "confidence": 0.9796629548072815,
304
+ "position": [
305
+ 0.004464679615921341,
306
+ -0.09110048378352076,
307
+ 0.08537980588153005
308
+ ],
309
+ "orientation": {
310
+ "w": 0.013631593077023671,
311
+ "xyz": [
312
+ 0.0055109457715092295,
313
+ -0.8567262965414402,
314
+ -0.5155616955915894
315
+ ]
316
+ }
317
+ },
318
+ "grasp_38": {
319
+ "confidence": 0.9792744517326355,
320
+ "position": [
321
+ -0.002819173751049675,
322
+ 0.1252280849730596,
323
+ 0.02884458051994443
324
+ ],
325
+ "orientation": {
326
+ "w": 0.023510869256463285,
327
+ "xyz": [
328
+ -6.549820954530817e-06,
329
+ 0.843380892447703,
330
+ -0.5368015548021648
331
+ ]
332
+ }
333
+ },
334
+ "grasp_39": {
335
+ "confidence": 0.9791595935821533,
336
+ "position": [
337
+ 0.0003128243115497753,
338
+ 0.09835657512303442,
339
+ 0.05775817157700658
340
+ ],
341
+ "orientation": {
342
+ "w": 0.40132799929894414,
343
+ "xyz": [
344
+ 0.9157439059654745,
345
+ 0.013172917219071212,
346
+ 0.013244240927366457
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "base sponge layer",
354
+ "mask_color": "Red",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the lower base layer to lift the sponge from a countertop",
359
+ "confidence": 0.8
360
+ },
361
+ {
362
+ "scenario": "hold the base layer to stabilize the sponge during wiping",
363
+ "confidence": 0.74
364
+ },
365
+ {
366
+ "scenario": "pinch an edge of the base layer to reposition the sponge",
367
+ "confidence": 0.67
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "support the sponge",
372
+ "provide broad wiping contact",
373
+ "stabilize on flat surfaces",
374
+ "absorb and spread cleaning liquid"
375
+ ],
376
+ "semantic_description": "Thicker lower teal foam section with a matte finish, soft compressible texture, and a broad flat block-like shape forming the sponge's bottom layer and underside contact surface.",
377
+ "id": 0,
378
+ "grasp_group": {
379
+ "grasp_0": {
380
+ "confidence": 0.9336325526237488,
381
+ "position": [
382
+ -0.0015329244924942032,
383
+ 0.12542904203291982,
384
+ -0.028345563914626837
385
+ ],
386
+ "orientation": {
387
+ "w": 0.05082807469015617,
388
+ "xyz": [
389
+ 0.047126954217248336,
390
+ -0.7178578201906423,
391
+ 0.6927306164741365
392
+ ]
393
+ }
394
+ },
395
+ "grasp_3": {
396
+ "confidence": 0.023410554975271225,
397
+ "position": [
398
+ 0.09998753502441105,
399
+ -0.021807910525240004,
400
+ 0.0041917667258530855
401
+ ],
402
+ "orientation": {
403
+ "w": 0.7016683055807084,
404
+ "xyz": [
405
+ -0.1407362625086237,
406
+ -0.6872029483164723,
407
+ 0.12492798398977464
408
+ ]
409
+ }
410
+ }
411
+ }
412
+ }
413
+ ],
414
+ "quality_check": {
415
+ "success": false,
416
+ "message": "Upper part description misstates dotted faces; they are scrub surfaces, not side faces."
417
+ }
418
+ }
dataset/bathroom_supplies/bath_products/dcc7de9faa4f5c18b8c40dee91c0c395/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d5c4c6274144a80b77614b8039212801712dc4846a4f5e6978d35c27165dd9c
3
+ size 3779604