xinjjj commited on
Commit
ae32790
·
verified ·
1 Parent(s): 36894e1

Add asset bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4

Browse files
.gitattributes CHANGED
@@ -5711,4 +5711,4 @@ dataset/bathroom_supplies/bath_products/f24827b34a7552ed89ceee696011f75d/afforda
5711
  dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5712
  dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5713
  dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5714
- dataset/bathroom_supplies/bath_products/f86f8491113c5687824645965b00e82c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5711
  dataset/bathroom_supplies/bath_products/f26379ed9ff95d249d8ffe98be47e19f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5712
  dataset/bathroom_supplies/bath_products/f55d4c8c2bd25551aea73e58b063d068/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5713
  dataset/bathroom_supplies/bath_products/f76eadb7fbb25b61bbc7c8e87a4fe5cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5714
+ dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/affordance/affordance_annot.json ADDED
@@ -0,0 +1,311 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 to pick up and move the sponge",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the sponge body while wiping or scrubbing a surface",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "compress the sponge body to squeeze out water or cleaning fluid",
18
+ "confidence": 0.91
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "absorb liquid",
23
+ "wipe surfaces",
24
+ "scrub surfaces",
25
+ "retain cleaning solution",
26
+ "provide main grasp surface",
27
+ "compress for squeezing"
28
+ ],
29
+ "semantic_description": "A single medium-sized rectangular beige sponge body with a soft porous fibrous material, matte finish, rough open-cell texture, and irregular hole patterns across all faces.",
30
+ "id": 0,
31
+ "grasp_group": {
32
+ "grasp_0": {
33
+ "confidence": 0.9805055260658264,
34
+ "position": [
35
+ 0.11345245491247624,
36
+ 0.026731400284916162,
37
+ 0.003965327032346977
38
+ ],
39
+ "orientation": {
40
+ "w": 0.0033402819569930903,
41
+ "xyz": [
42
+ 0.7172466017180262,
43
+ 0.005279360987551218,
44
+ -0.6967914201451924
45
+ ]
46
+ }
47
+ },
48
+ "grasp_1": {
49
+ "confidence": 0.9798688292503357,
50
+ "position": [
51
+ 0.006804608157835901,
52
+ -0.13095319783315063,
53
+ -0.0025218904665962327
54
+ ],
55
+ "orientation": {
56
+ "w": 0.4992815449081948,
57
+ "xyz": [
58
+ -0.5096587512161573,
59
+ 0.48574567007590397,
60
+ 0.5049921189735381
61
+ ]
62
+ }
63
+ },
64
+ "grasp_2": {
65
+ "confidence": 0.9788628816604614,
66
+ "position": [
67
+ 0.10734779189806432,
68
+ 0.01613790588453412,
69
+ 0.01567093281119014
70
+ ],
71
+ "orientation": {
72
+ "w": 0.014991034027141746,
73
+ "xyz": [
74
+ -0.7371008194610711,
75
+ 0.00465499048896445,
76
+ 0.6756004602663932
77
+ ]
78
+ }
79
+ },
80
+ "grasp_3": {
81
+ "confidence": 0.9781039953231812,
82
+ "position": [
83
+ 0.0029111442854627967,
84
+ -0.12427700823172927,
85
+ -0.0034307644418731797
86
+ ],
87
+ "orientation": {
88
+ "w": 0.49783420583449683,
89
+ "xyz": [
90
+ -0.5212019041163353,
91
+ 0.47675717653785255,
92
+ 0.50320202033209
93
+ ]
94
+ }
95
+ },
96
+ "grasp_4": {
97
+ "confidence": 0.9779656529426575,
98
+ "position": [
99
+ 0.11047471116762608,
100
+ 0.022304479498416185,
101
+ 0.0044674183991446625
102
+ ],
103
+ "orientation": {
104
+ "w": 0.6989286049909111,
105
+ "xyz": [
106
+ 0.009416232734037978,
107
+ -0.7150593846710607,
108
+ 0.01001079819005159
109
+ ]
110
+ }
111
+ },
112
+ "grasp_5": {
113
+ "confidence": 0.9779089093208313,
114
+ "position": [
115
+ 0.011572759482078254,
116
+ -0.12506378209218383,
117
+ -0.0001691057150310371
118
+ ],
119
+ "orientation": {
120
+ "w": 0.4916580556501449,
121
+ "xyz": [
122
+ -0.5154257032942096,
123
+ 0.483836086956811,
124
+ 0.508440106262585
125
+ ]
126
+ }
127
+ },
128
+ "grasp_6": {
129
+ "confidence": 0.9777212738990784,
130
+ "position": [
131
+ 0.11055112432222813,
132
+ -0.01309461472555995,
133
+ 0.002080777176161064
134
+ ],
135
+ "orientation": {
136
+ "w": 0.004882391318038235,
137
+ "xyz": [
138
+ -0.7141162649711148,
139
+ -0.011868969199394286,
140
+ 0.6999094583793436
141
+ ]
142
+ }
143
+ },
144
+ "grasp_7": {
145
+ "confidence": 0.9774871468544006,
146
+ "position": [
147
+ 0.1140970716951415,
148
+ -0.01530060125514865,
149
+ 0.003933290932764066
150
+ ],
151
+ "orientation": {
152
+ "w": 0.0004548581108516414,
153
+ "xyz": [
154
+ -0.7148741726423576,
155
+ -0.016192695815278824,
156
+ 0.6990654525831165
157
+ ]
158
+ }
159
+ },
160
+ "grasp_10": {
161
+ "confidence": 0.9769699573516846,
162
+ "position": [
163
+ 0.011094473185949028,
164
+ -0.12734725838527083,
165
+ 0.0021458486844494473
166
+ ],
167
+ "orientation": {
168
+ "w": 0.48138632814265075,
169
+ "xyz": [
170
+ -0.511460333993789,
171
+ 0.4908426417003402,
172
+ 0.5155085168228839
173
+ ]
174
+ }
175
+ },
176
+ "grasp_12": {
177
+ "confidence": 0.976760745048523,
178
+ "position": [
179
+ 0.0028538359329104424,
180
+ 0.12673314893618226,
181
+ 0.0007307910527742933
182
+ ],
183
+ "orientation": {
184
+ "w": 0.49209287808997193,
185
+ "xyz": [
186
+ 0.5197885484625697,
187
+ 0.4925492584391762,
188
+ -0.49503504141759497
189
+ ]
190
+ }
191
+ },
192
+ "grasp_13": {
193
+ "confidence": 0.976628839969635,
194
+ "position": [
195
+ -0.0006657789926975965,
196
+ -0.12702943896874785,
197
+ -0.003842237656499492
198
+ ],
199
+ "orientation": {
200
+ "w": 0.5197503792827588,
201
+ "xyz": [
202
+ -0.4917999799129069,
203
+ -0.4906159712720741,
204
+ -0.49728089821131477
205
+ ]
206
+ }
207
+ },
208
+ "grasp_14": {
209
+ "confidence": 0.9765489101409912,
210
+ "position": [
211
+ 0.004009332158602774,
212
+ 0.12669869745150208,
213
+ 0.0037612535343214404
214
+ ],
215
+ "orientation": {
216
+ "w": 0.4869481866126405,
217
+ "xyz": [
218
+ 0.5340684486293884,
219
+ 0.48657160826687385,
220
+ -0.490816081401014
221
+ ]
222
+ }
223
+ },
224
+ "grasp_15": {
225
+ "confidence": 0.9764121770858765,
226
+ "position": [
227
+ 0.11331095348577946,
228
+ 0.019737231079488993,
229
+ 0.006877115909446729
230
+ ],
231
+ "orientation": {
232
+ "w": 0.008404588774060699,
233
+ "xyz": [
234
+ -0.7176806204713343,
235
+ 0.001035857042456123,
236
+ 0.6963209151588134
237
+ ]
238
+ }
239
+ },
240
+ "grasp_16": {
241
+ "confidence": 0.976353645324707,
242
+ "position": [
243
+ -0.06248964567203075,
244
+ 0.10791515791788697,
245
+ -0.0009274669755541254
246
+ ],
247
+ "orientation": {
248
+ "w": 0.6172822472121426,
249
+ "xyz": [
250
+ 0.3573123508921756,
251
+ 0.620980370592236,
252
+ -0.3250752074763058
253
+ ]
254
+ }
255
+ },
256
+ "grasp_17": {
257
+ "confidence": 0.9763169288635254,
258
+ "position": [
259
+ 0.11164710472803563,
260
+ -0.01813488407060504,
261
+ 0.011063941736210836
262
+ ],
263
+ "orientation": {
264
+ "w": 0.00798117098952908,
265
+ "xyz": [
266
+ -0.7259959258340285,
267
+ -0.008555182747735812,
268
+ 0.6875994658448916
269
+ ]
270
+ }
271
+ },
272
+ "grasp_18": {
273
+ "confidence": 0.9760924577713013,
274
+ "position": [
275
+ 0.005897767725400627,
276
+ -0.13204879080876708,
277
+ -0.005608120485703694
278
+ ],
279
+ "orientation": {
280
+ "w": 0.49795475120191507,
281
+ "xyz": [
282
+ -0.5107528221174785,
283
+ 0.48133487768200456,
284
+ 0.509400977601457
285
+ ]
286
+ }
287
+ },
288
+ "grasp_19": {
289
+ "confidence": 0.9760213494300842,
290
+ "position": [
291
+ -0.05608936969656497,
292
+ 0.11598825687542558,
293
+ -0.00028888641463709064
294
+ ],
295
+ "orientation": {
296
+ "w": 0.6247494021678681,
297
+ "xyz": [
298
+ 0.35538258677789003,
299
+ 0.6083192336884437,
300
+ -0.3366587462559848
301
+ ]
302
+ }
303
+ }
304
+ }
305
+ }
306
+ ],
307
+ "quality_check": {
308
+ "success": true,
309
+ "message": "YES"
310
+ }
311
+ }
dataset/bathroom_supplies/bath_products/f87690802ab55cf986bee1773dc295a4/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4bf9ed07558c8aea143ed809ea3cba160d2e9fd6caa31daecc24f338b7f11579
3
+ size 3785300