xinjjj commited on
Commit
f0f64df
·
verified ·
1 Parent(s): 74ffcd9

Add asset bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399

Browse files
.gitattributes CHANGED
@@ -5599,3 +5599,4 @@ dataset/bathroom_supplies/bath_products/4805cafb517d5452a2a47d67687922d7/afforda
5599
  dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5600
  dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/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
 
 
5599
  dataset/bathroom_supplies/bath_products/48c86a056f1e52768c205fe820bd11e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5600
  dataset/bathroom_supplies/bath_products/4989dde812de5edfa946cf23d1f3decd/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
dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/affordance/affordance_annot.json ADDED
@@ -0,0 +1,342 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "sponge body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sponge body from the sides to pick it up for cleaning",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "compress and hold the sponge body while wiping a surface",
14
+ "confidence": 0.92
15
+ },
16
+ {
17
+ "scenario": "pinch the sponge body to reposition or place it in storage",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "absorb liquid",
23
+ "scrub surfaces",
24
+ "wipe and clean",
25
+ "provide the main grasp surface",
26
+ "compress for squeezing"
27
+ ],
28
+ "semantic_description": "Single large pale beige foam sponge body with a matte soft porous texture, rounded rectangular shape, and scattered surface holes across the top and sides.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.986839771270752,
33
+ "position": [
34
+ -0.0020348931720945984,
35
+ -0.13700808573048562,
36
+ -0.005046594655141234
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5116302754193892,
40
+ "xyz": [
41
+ -0.5039134267266019,
42
+ 0.4880264536179926,
43
+ 0.4961208524220474
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9866881966590881,
49
+ "position": [
50
+ -0.0013945147802587599,
51
+ -0.13482400763314217,
52
+ -0.003327435697428882
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5005959193798506,
56
+ "xyz": [
57
+ -0.5154504958675906,
58
+ 0.4860165841778178,
59
+ 0.4974961223107407
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9864751696586609,
65
+ "position": [
66
+ 0.005043513345299289,
67
+ -0.13374336052220315,
68
+ -0.006991032394580543
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5060916871783946,
72
+ "xyz": [
73
+ -0.5101906399800169,
74
+ 0.48312727426886015,
75
+ 0.5001647247689984
76
+ ]
77
+ }
78
+ },
79
+ "grasp_4": {
80
+ "confidence": 0.9853990077972412,
81
+ "position": [
82
+ 0.10499605324002914,
83
+ 0.07845027756411582,
84
+ 0.0036161881871521473
85
+ ],
86
+ "orientation": {
87
+ "w": 0.15992172028039245,
88
+ "xyz": [
89
+ 0.6976235829061954,
90
+ 0.1889174225405683,
91
+ -0.6723515355945214
92
+ ]
93
+ }
94
+ },
95
+ "grasp_5": {
96
+ "confidence": 0.9853543043136597,
97
+ "position": [
98
+ 0.10164951320621185,
99
+ 0.0877865405054763,
100
+ 0.0006834198720753193
101
+ ],
102
+ "orientation": {
103
+ "w": 0.16245672478800877,
104
+ "xyz": [
105
+ 0.698192870632997,
106
+ 0.20083728556435576,
107
+ -0.667681745066876
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9852554798126221,
113
+ "position": [
114
+ 0.10038196828099899,
115
+ 0.08660059433896095,
116
+ 0.002017838880419731
117
+ ],
118
+ "orientation": {
119
+ "w": 0.16584855906959917,
120
+ "xyz": [
121
+ 0.7040071884010001,
122
+ 0.19897246473307728,
123
+ -0.6612700601209013
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.984274685382843,
129
+ "position": [
130
+ 0.10157426979276352,
131
+ 0.07950649422127753,
132
+ 0.0038934084586799145
133
+ ],
134
+ "orientation": {
135
+ "w": 0.16727976121414365,
136
+ "xyz": [
137
+ 0.6980799254342319,
138
+ 0.20277044780416575,
139
+ -0.666022555692504
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9834517240524292,
145
+ "position": [
146
+ 0.05191404532524757,
147
+ -0.12298937875311822,
148
+ -0.004778887698194012
149
+ ],
150
+ "orientation": {
151
+ "w": 0.36800364221900084,
152
+ "xyz": [
153
+ -0.627921662022031,
154
+ 0.3376228355598929,
155
+ 0.5969074690314551
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9833828806877136,
161
+ "position": [
162
+ -0.00957432042923756,
163
+ -0.13520476210396737,
164
+ -0.004543778719380498
165
+ ],
166
+ "orientation": {
167
+ "w": 0.49250796889797355,
168
+ "xyz": [
169
+ -0.5004716638014273,
170
+ 0.5004088596796961,
171
+ 0.5065125738398705
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9833493232727051,
177
+ "position": [
178
+ 0.01781193513306789,
179
+ 0.13608831178862602,
180
+ 0.001569727435708046
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4805323339958887,
184
+ "xyz": [
185
+ 0.5342516023081211,
186
+ 0.49124666191413857,
187
+ -0.492281036171297
188
+ ]
189
+ }
190
+ },
191
+ "grasp_11": {
192
+ "confidence": 0.9832813143730164,
193
+ "position": [
194
+ 0.06471790905925445,
195
+ 0.12129347783047706,
196
+ 0.0039452542550861835
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6017324897411944,
200
+ "xyz": [
201
+ 0.3446078597645963,
202
+ -0.637924958593429,
203
+ 0.3349853444285291
204
+ ]
205
+ }
206
+ },
207
+ "grasp_12": {
208
+ "confidence": 0.9831956028938293,
209
+ "position": [
210
+ 0.10727593835326843,
211
+ 0.07994149636942893,
212
+ 0.004953416530042887
213
+ ],
214
+ "orientation": {
215
+ "w": 0.16360345863894815,
216
+ "xyz": [
217
+ 0.6965125222780342,
218
+ 0.18946825334126605,
219
+ -0.6724626351010702
220
+ ]
221
+ }
222
+ },
223
+ "grasp_13": {
224
+ "confidence": 0.9831857681274414,
225
+ "position": [
226
+ 0.10792206760379486,
227
+ 0.07842945319134742,
228
+ 0.0032274159602820873
229
+ ],
230
+ "orientation": {
231
+ "w": 0.15881099452705275,
232
+ "xyz": [
233
+ 0.700865795010216,
234
+ 0.1985255695796374,
235
+ -0.6664486504038459
236
+ ]
237
+ }
238
+ },
239
+ "grasp_14": {
240
+ "confidence": 0.983183741569519,
241
+ "position": [
242
+ 0.110704635939328,
243
+ -0.02872541348915547,
244
+ 0.00022917892783880234
245
+ ],
246
+ "orientation": {
247
+ "w": 0.014323771816865663,
248
+ "xyz": [
249
+ -0.7204431576051542,
250
+ -0.008741275360526268,
251
+ 0.693310952117392
252
+ ]
253
+ }
254
+ },
255
+ "grasp_15": {
256
+ "confidence": 0.9831554889678955,
257
+ "position": [
258
+ 0.05817850839230232,
259
+ 0.12525060784537345,
260
+ 0.0025742598809301853
261
+ ],
262
+ "orientation": {
263
+ "w": 0.594902750703452,
264
+ "xyz": [
265
+ 0.36515940801269636,
266
+ -0.6211512899659521,
267
+ 0.3562588931085334
268
+ ]
269
+ }
270
+ },
271
+ "grasp_16": {
272
+ "confidence": 0.982820987701416,
273
+ "position": [
274
+ 0.10371815200778656,
275
+ 0.07318373036105186,
276
+ 0.0014159735292196274
277
+ ],
278
+ "orientation": {
279
+ "w": 0.15692708500437724,
280
+ "xyz": [
281
+ 0.6990870430345608,
282
+ 0.19777311388175156,
283
+ -0.6689820563204508
284
+ ]
285
+ }
286
+ },
287
+ "grasp_17": {
288
+ "confidence": 0.9827098846435547,
289
+ "position": [
290
+ 0.11080264832708053,
291
+ 0.0337265805574134,
292
+ -0.0009510926902294159
293
+ ],
294
+ "orientation": {
295
+ "w": 0.6956941707727671,
296
+ "xyz": [
297
+ 0.016736923579846318,
298
+ -0.7181007579639596,
299
+ 0.007797278593247342
300
+ ]
301
+ }
302
+ },
303
+ "grasp_18": {
304
+ "confidence": 0.9826707243919373,
305
+ "position": [
306
+ 0.05325509767862968,
307
+ 0.1267201901646331,
308
+ -0.00315093039534986
309
+ ],
310
+ "orientation": {
311
+ "w": 0.3580857057189135,
312
+ "xyz": [
313
+ 0.6160468396076301,
314
+ 0.36698903664721416,
315
+ -0.5979799041355723
316
+ ]
317
+ }
318
+ },
319
+ "grasp_19": {
320
+ "confidence": 0.9826617240905762,
321
+ "position": [
322
+ 0.11237479533883743,
323
+ 0.030292086419649422,
324
+ 0.001747172325849533
325
+ ],
326
+ "orientation": {
327
+ "w": 0.6990457185613174,
328
+ "xyz": [
329
+ 0.019680034790788763,
330
+ -0.7146823825706542,
331
+ -0.013299309563218568
332
+ ]
333
+ }
334
+ }
335
+ }
336
+ }
337
+ ],
338
+ "quality_check": {
339
+ "success": true,
340
+ "message": "YES"
341
+ }
342
+ }
dataset/bathroom_supplies/bath_products/4c2f99039d545e3a88fe4471817ea399/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36afbea4374f1c4a4d747a09e61a41896db16035ddd19229fd3a8ec591919a15
3
+ size 3777016