Add asset bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/affordance_annot.json +498 -0
- dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/basket_010.urdf +1 -0
.gitattributes
CHANGED
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@@ -5947,3 +5947,4 @@ dataset/bedroom_supplies/small_electronics/efdb480292a85a6c89b9b93613b819fd/affo
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| 5947 |
dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5948 |
dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5949 |
dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5947 |
dataset/bedroom_supplies/small_electronics/f59641d46dbd5425a81a28c0e28d7579/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5948 |
dataset/bedroom_supplies/small_electronics/fb1513074b525606bcf8615684b3d215/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5949 |
dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5950 |
+
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,498 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "basket body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the basket body from the sides to pick up or reposition the basket",
|
| 10 |
+
"confidence": 0.85
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the basket while loading or unloading contents",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain items",
|
| 19 |
+
"form the main structure",
|
| 20 |
+
"support side grasping",
|
| 21 |
+
"protect contents"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Round woven basket body made of painted wicker in mostly off-white with some light gray weathered-looking bands, matte finish, rough braided texture, and cylindrical walls forming the sides and base.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9615758657455444,
|
| 28 |
+
"position": [
|
| 29 |
+
0.029876037733629346,
|
| 30 |
+
-0.08847295900341123,
|
| 31 |
+
0.11387052049394697
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.17017721226998267,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.847051588561168,
|
| 37 |
+
0.49997152959704527,
|
| 38 |
+
0.059764473831951985
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9529930353164673,
|
| 44 |
+
"position": [
|
| 45 |
+
0.03295192611403763,
|
| 46 |
+
-0.09104058553930372,
|
| 47 |
+
0.11380817403551191
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.10457348059839705,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.8019467178612274,
|
| 53 |
+
0.5743319646237997,
|
| 54 |
+
0.126841015757949
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9516234397888184,
|
| 60 |
+
"position": [
|
| 61 |
+
0.03104204055853188,
|
| 62 |
+
-0.11091303487773985,
|
| 63 |
+
0.09488243272062391
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.34280888353279526,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.833384926827338,
|
| 69 |
+
0.4292978943582618,
|
| 70 |
+
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|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9489700794219971,
|
| 76 |
+
"position": [
|
| 77 |
+
0.010922406101599336,
|
| 78 |
+
-0.10853247751947492,
|
| 79 |
+
0.10505605151411146
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.06860177057330484,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.5091603111497937,
|
| 85 |
+
-0.8101118343614819,
|
| 86 |
+
-0.2824329840006786
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.946137011051178,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.007502630120143294,
|
| 94 |
+
-0.10075958480592817,
|
| 95 |
+
0.11072925140615553
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.2523340958092214,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.7865731542976216,
|
| 101 |
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0.5635541795904845,
|
| 102 |
+
-0.006071548116298376
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.9448804259300232,
|
| 108 |
+
"position": [
|
| 109 |
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0.012520768912509084,
|
| 110 |
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-0.10382499208208174,
|
| 111 |
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0.10384995897766203
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.23430063197132434,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.8275399993931531,
|
| 117 |
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0.5085514113335574,
|
| 118 |
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0.04069674793966934
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_6": {
|
| 123 |
+
"confidence": 0.9442474842071533,
|
| 124 |
+
"position": [
|
| 125 |
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0.05131447804160416,
|
| 126 |
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-0.09383658727165312,
|
| 127 |
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0.1094289313768968
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.13447874978923527,
|
| 131 |
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"xyz": [
|
| 132 |
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-0.4101766777897869,
|
| 133 |
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-0.8770756540066934,
|
| 134 |
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-0.21073408837012697
|
| 135 |
+
]
|
| 136 |
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}
|
| 137 |
+
},
|
| 138 |
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"grasp_7": {
|
| 139 |
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"confidence": 0.94366455078125,
|
| 140 |
+
"position": [
|
| 141 |
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0.010385503293946385,
|
| 142 |
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-0.11099943181034178,
|
| 143 |
+
0.10774348338600248
|
| 144 |
+
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| 498 |
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|
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:45419e0a429d69d31f172ada45e928582d2db4e990b3d3599b3b7cd61c3b9b0a
|
| 3 |
+
size 3784616
|
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/basket_010.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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