Add asset bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/affordance_annot.json +484 -0
- dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/basket_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -5973,3 +5973,4 @@ dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mes
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| 5973 |
dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5974 |
dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5975 |
dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5973 |
dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5974 |
dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5975 |
dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5976 |
+
dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,484 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "basket body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to pick up the basket when the handles are down",
|
| 10 |
+
"confidence": 0.76
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the basket body to stabilize it while loading or unloading contents",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the rim-adjacent body area to reposition the basket on a surface",
|
| 18 |
+
"confidence": 0.68
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain items",
|
| 23 |
+
"support stored contents",
|
| 24 |
+
"provide side grasp surface",
|
| 25 |
+
"form the main structure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large yellow plastic basket body with a smooth slightly glossy hard surface, perforated side walls and base, rounded rectangular shape, and the main lower container portion of the object.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8924649357795715,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1294587176234927,
|
| 34 |
+
-0.002105357707478106,
|
| 35 |
+
0.08694325480610132
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.30543068848258265,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.002469520992673497,
|
| 41 |
+
-0.9517762952576281,
|
| 42 |
+
0.028772900180331705
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.8728099465370178,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1242620121629443,
|
| 50 |
+
-0.005739435902796686,
|
| 51 |
+
0.08333670441061258
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.30285419750295806,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.015083522740325922,
|
| 57 |
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-0.952917530296457,
|
| 58 |
+
-5.338802848429561e-05
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.8717649579048157,
|
| 64 |
+
"position": [
|
| 65 |
+
0.12642065397812985,
|
| 66 |
+
0.028461261768825352,
|
| 67 |
+
0.08404854033142328
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.16825942884088285,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.9327153811888071,
|
| 73 |
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0.04460905193654002,
|
| 74 |
+
-0.31581769232467183
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.8641626238822937,
|
| 80 |
+
"position": [
|
| 81 |
+
0.13800852707936428,
|
| 82 |
+
0.015996833448298275,
|
| 83 |
+
0.06774418149143457
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.20427147179371996,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.9059959565765507,
|
| 89 |
+
-0.01062856445779975,
|
| 90 |
+
-0.37058268456005133
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.862617552280426,
|
| 96 |
+
"position": [
|
| 97 |
+
0.13915454558446072,
|
| 98 |
+
-0.00015652598813176155,
|
| 99 |
+
0.0718058729544282
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.1705499285785487,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.896890876600892,
|
| 105 |
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-0.054930499734710925,
|
| 106 |
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-0.404329219239509
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.8499284982681274,
|
| 112 |
+
"position": [
|
| 113 |
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0.12607068530633114,
|
| 114 |
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-0.03781520656775683,
|
| 115 |
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0.08044716063886881
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.19906760012072128,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.9244064681463607,
|
| 121 |
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0.06764146801532817,
|
| 122 |
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0.31822854057434813
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.8490133285522461,
|
| 128 |
+
"position": [
|
| 129 |
+
0.12106548211886548,
|
| 130 |
+
-0.03880006156396121,
|
| 131 |
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0.08003867510706186
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.15434269255261227,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.935048037080594,
|
| 137 |
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0.11009880551354229,
|
| 138 |
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0.2995692818561821
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_9": {
|
| 143 |
+
"confidence": 0.8464552760124207,
|
| 144 |
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"position": [
|
| 145 |
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0.12872523776604794,
|
| 146 |
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0.009730843012221158,
|
| 147 |
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0.07090623024851084
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
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"w": 0.3468399171291797,
|
| 151 |
+
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],
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| 439 |
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| 440 |
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| 442 |
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| 443 |
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"provide pivot point",
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],
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"semantic_description": "Small orange plastic circular hinge cap with a smooth glossy hard surface, compact rounded shape, and positioned at the handle attachment points on the basket sides.",
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},
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| 454 |
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|
| 455 |
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|
| 456 |
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"decorate basket exterior",
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"indicate front side"
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],
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"semantic_description": "Small light blue plastic decorative applique with a smooth glossy surface, wavy elongated shape, and mounted on the outer side wall as a non-structural accent.",
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| 462 |
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| 463 |
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},
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| 465 |
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{
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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"join decorative piece to body",
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| 472 |
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"cover attachment point",
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| 473 |
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"provide local reinforcement"
|
| 474 |
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],
|
| 475 |
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"semantic_description": "Small light blue plastic attachment piece with a smooth hard finish, compact rounded form, and located near the upper side wall where the exterior decoration is fixed.",
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| 476 |
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|
| 477 |
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|
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| 479 |
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],
|
| 480 |
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"quality_check": {
|
| 481 |
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"success": true,
|
| 482 |
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"message": "YES"
|
| 483 |
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}
|
| 484 |
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}
|
dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c8245c880bd22864d9cdf3dd94bc2660c8ca7054b07b5d292b8be30bf7ac0a4
|
| 3 |
+
size 3786556
|
dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/basket_025.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|