Add asset bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/affordance_annot.json +450 -0
- dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6034,3 +6034,4 @@ dataset/bedroom_supplies/storage/567a100bf60053f298724da7f58cf6e8/affordance/mes
|
|
| 6034 |
dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6035 |
dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6036 |
dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6034 |
dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6035 |
dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6036 |
dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6037 |
+
dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,450 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid of jewelry box",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the jewelry box",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while closing",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lid while repositioning the open box",
|
| 18 |
+
"confidence": 0.39
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the contents",
|
| 23 |
+
"protect stored jewelry",
|
| 24 |
+
"open and close access",
|
| 25 |
+
"provide top enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A large rounded-rectangular top lid with a white leather-like exterior, tan trim, and purple padded inner lining, showing a smooth matte finish and soft cushioned texture on the upper half of the box.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.963585376739502,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.01680314273107797,
|
| 34 |
+
0.13459769147448242,
|
| 35 |
+
0.04391806141939014
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.029168956579780556,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.07406318453218236,
|
| 41 |
+
0.7121039968590769,
|
| 42 |
+
-0.6975469262539449
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.9578949809074402,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.028319838573224843,
|
| 50 |
+
-0.035320908995345235,
|
| 51 |
+
0.15235373319592327
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.020522420021259626,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.01071615811066899,
|
| 57 |
+
-0.9995122963218523,
|
| 58 |
+
-0.020956233755971415
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9563475251197815,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.037541297380812466,
|
| 66 |
+
-0.13770565134473145,
|
| 67 |
+
0.04663240851368755
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.04629037636946696,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.011485240053937244,
|
| 73 |
+
0.709722259691426,
|
| 74 |
+
0.7028652818392527
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_8": {
|
| 79 |
+
"confidence": 0.9547773599624634,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.01601750508416444,
|
| 82 |
+
0.135681378422305,
|
| 83 |
+
0.035069140954874456
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.06444141928372203,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.11615619434102001,
|
| 89 |
+
0.679087434119994,
|
| 90 |
+
-0.7219385699747826
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_9": {
|
| 95 |
+
"confidence": 0.9537415504455566,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.02129150473047048,
|
| 98 |
+
-0.02147746761329472,
|
| 99 |
+
0.15533150674309582
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.03649754775825263,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.008010784077150147,
|
| 105 |
+
-0.9993007170334056,
|
| 106 |
+
0.0013539876747350752
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_12": {
|
| 111 |
+
"confidence": 0.9522022008895874,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.020884954486973584,
|
| 114 |
+
-0.04712710645981133,
|
| 115 |
+
0.1492760175606236
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.03706757796271376,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.009868076013689542,
|
| 121 |
+
-0.9978160336538063,
|
| 122 |
+
-0.05377526125601478
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_13": {
|
| 127 |
+
"confidence": 0.9521769881248474,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.030731928651221097,
|
| 130 |
+
-0.029102423461154103,
|
| 131 |
+
0.15358319820370525
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.008069025855165095,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.006139341947162365,
|
| 137 |
+
0.9999241584349036,
|
| 138 |
+
0.00699118591189911
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_14": {
|
| 143 |
+
"confidence": 0.9517906904220581,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.03219136327970773,
|
| 146 |
+
-0.03534971666522324,
|
| 147 |
+
0.15164875925984234
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.00840315958773517,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.01169928270317966,
|
| 153 |
+
0.9997173202751524,
|
| 154 |
+
0.01891542320547817
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_15": {
|
| 159 |
+
"confidence": 0.951235830783844,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.026391710271127522,
|
| 162 |
+
-0.01688777399249375,
|
| 163 |
+
0.1570986652513966
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.017350476024831227,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.0102295836686061,
|
| 169 |
+
-0.9997969501606455,
|
| 170 |
+
0.0006124125655010933
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_17": {
|
| 175 |
+
"confidence": 0.9511407613754272,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.025850546662695706,
|
| 178 |
+
0.04734250041656196,
|
| 179 |
+
0.14947639347519726
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.020433035112996725,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.01864813223965964,
|
| 185 |
+
-0.9975014395573887,
|
| 186 |
+
0.06500474075773784
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_18": {
|
| 191 |
+
"confidence": 0.9511290192604065,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.035267789964564145,
|
| 194 |
+
-0.12165991705842316,
|
| 195 |
+
0.10960010380949825
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.016141117214578525,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.023210624393198865,
|
| 201 |
+
0.8787439152361168,
|
| 202 |
+
0.4764555201546558
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_19": {
|
| 207 |
+
"confidence": 0.9510545134544373,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.028357061673887074,
|
| 210 |
+
0.015093671856448054,
|
| 211 |
+
0.15718257369007915
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.015080075030713057,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.0039053923248387233,
|
| 217 |
+
-0.9998346470543259,
|
| 218 |
+
0.009381780087378564
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "base of jewelry box",
|
| 226 |
+
"mask_color": "Yellow",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the base from the sides to pick up the jewelry box",
|
| 231 |
+
"confidence": 0.94
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "hold the base steady while opening or closing the lid",
|
| 235 |
+
"confidence": 0.9
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"scenario": "grasp the base to reposition the box on a surface",
|
| 239 |
+
"confidence": 0.92
|
| 240 |
+
}
|
| 241 |
+
],
|
| 242 |
+
"functional_labels": [
|
| 243 |
+
"contain jewelry",
|
| 244 |
+
"support the whole box",
|
| 245 |
+
"organize items in compartments",
|
| 246 |
+
"provide stable placement"
|
| 247 |
+
],
|
| 248 |
+
"semantic_description": "A larger lower body with a white leather-like outer shell, tan rim, and purple compartmented interior, featuring a smooth matte finish, soft-lined trays, and a broad rounded rectangular form that supports the box.",
|
| 249 |
+
"id": 3,
|
| 250 |
+
"grasp_group": {
|
| 251 |
+
"grasp_23": {
|
| 252 |
+
"confidence": 0.9787493348121643,
|
| 253 |
+
"position": [
|
| 254 |
+
0.14814401685725898,
|
| 255 |
+
0.016546017257496715,
|
| 256 |
+
-0.019096145988442004
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.027425499824363635,
|
| 260 |
+
"xyz": [
|
| 261 |
+
0.7143727250262469,
|
| 262 |
+
-0.008434608199938354,
|
| 263 |
+
-0.6991768796824387
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_25": {
|
| 268 |
+
"confidence": 0.9783918857574463,
|
| 269 |
+
"position": [
|
| 270 |
+
0.14142833172809333,
|
| 271 |
+
0.025446762097999454,
|
| 272 |
+
-0.024581099511124194
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.11779509582906873,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.6949612969239871,
|
| 278 |
+
0.09625774840561785,
|
| 279 |
+
-0.7027713405142751
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_26": {
|
| 284 |
+
"confidence": 0.9781743288040161,
|
| 285 |
+
"position": [
|
| 286 |
+
0.14463498711120337,
|
| 287 |
+
0.01041121850721538,
|
| 288 |
+
-0.01345904974732548
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.04402485338419425,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.7288412896277445,
|
| 294 |
+
0.04005795090820885,
|
| 295 |
+
-0.6820905712493774
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_29": {
|
| 300 |
+
"confidence": 0.977414608001709,
|
| 301 |
+
"position": [
|
| 302 |
+
0.12171253084670752,
|
| 303 |
+
0.0934900741558522,
|
| 304 |
+
-0.02595154440496117
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.20439854887045775,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.6735376280387108,
|
| 310 |
+
0.188287677150749,
|
| 311 |
+
-0.684920467987936
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_30": {
|
| 316 |
+
"confidence": 0.97719806432724,
|
| 317 |
+
"position": [
|
| 318 |
+
0.14356696128379554,
|
| 319 |
+
0.020286989165470004,
|
| 320 |
+
-0.016695459955371916
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.6957833106238257,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.023421166847767214,
|
| 326 |
+
-0.7177839878248706,
|
| 327 |
+
0.011098667625601783
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_31": {
|
| 332 |
+
"confidence": 0.976635217666626,
|
| 333 |
+
"position": [
|
| 334 |
+
0.1482393842888996,
|
| 335 |
+
0.0012300098314881325,
|
| 336 |
+
-0.022786101908423007
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.036034725004544486,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.7055863226354503,
|
| 342 |
+
-0.0089759833194748,
|
| 343 |
+
-0.7076502466805745
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_33": {
|
| 348 |
+
"confidence": 0.976344883441925,
|
| 349 |
+
"position": [
|
| 350 |
+
0.14335129677783698,
|
| 351 |
+
0.02190854656510055,
|
| 352 |
+
-0.01155545620713383
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.6768375586308898,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.02392443512313375,
|
| 358 |
+
-0.735690056014444,
|
| 359 |
+
0.008870293798916414
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_34": {
|
| 364 |
+
"confidence": 0.9762923121452332,
|
| 365 |
+
"position": [
|
| 366 |
+
0.1386164081050083,
|
| 367 |
+
0.03226555394940078,
|
| 368 |
+
-0.028842565254308283
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.057067435482902454,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.6895262180394698,
|
| 374 |
+
0.025244303471120055,
|
| 375 |
+
-0.7215674795789017
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_35": {
|
| 380 |
+
"confidence": 0.9762368202209473,
|
| 381 |
+
"position": [
|
| 382 |
+
0.14422255277168006,
|
| 383 |
+
0.006858620559796691,
|
| 384 |
+
-0.02929287462029606
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.11013740073018399,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.6805847787059722,
|
| 390 |
+
0.06399913836151006,
|
| 391 |
+
-0.7215110686906514
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_37": {
|
| 396 |
+
"confidence": 0.976075291633606,
|
| 397 |
+
"position": [
|
| 398 |
+
0.1475299847079441,
|
| 399 |
+
-0.0029171041678637266,
|
| 400 |
+
-0.019103795872069895
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.060611694989522534,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.7140005955469391,
|
| 406 |
+
0.027275541815195314,
|
| 407 |
+
-0.6969830821532192
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_38": {
|
| 412 |
+
"confidence": 0.9759783148765564,
|
| 413 |
+
"position": [
|
| 414 |
+
0.1344568085623905,
|
| 415 |
+
0.06467166799120605,
|
| 416 |
+
-0.02810676454100758
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.18609823834465555,
|
| 420 |
+
"xyz": [
|
| 421 |
+
0.6643717110518745,
|
| 422 |
+
0.18698991300092038,
|
| 423 |
+
-0.6992942497081817
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_39": {
|
| 428 |
+
"confidence": 0.9759466648101807,
|
| 429 |
+
"position": [
|
| 430 |
+
0.13375997066032141,
|
| 431 |
+
0.043510424671694636,
|
| 432 |
+
-0.01797409972641617
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.1858272216884848,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.6982862271175115,
|
| 438 |
+
0.15653566687819398,
|
| 439 |
+
-0.6733210034541693
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
}
|
| 445 |
+
],
|
| 446 |
+
"quality_check": {
|
| 447 |
+
"success": true,
|
| 448 |
+
"message": "YES"
|
| 449 |
+
}
|
| 450 |
+
}
|
dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe4919cb291221f9b484d980ef53dc3f105795abe4bc5343cde7974810f70bae
|
| 3 |
+
size 3778988
|
dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.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>
|