Add asset bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/affordance_annot.json +466 -0
- dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -8082,3 +8082,4 @@ dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mes
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| 8082 |
dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8084 |
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8082 |
dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8084 |
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8085 |
+
dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,466 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top rim to lift or reposition the empty storage bin",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the rim to pull the bin from a shelf",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the rim to stabilize the bin while placing it down",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a top gripping edge",
|
| 23 |
+
"stiffen the opening",
|
| 24 |
+
"define the container opening",
|
| 25 |
+
"support pulling and repositioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Narrow dark brown fabric-like top rim with a slightly textured matte finish and hard-edged rectangular shape running around the bin opening.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.3794251084327698,
|
| 32 |
+
"position": [
|
| 33 |
+
0.14579784916713834,
|
| 34 |
+
0.0018146279617212713,
|
| 35 |
+
0.021834996296092868
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.4946463319370958,
|
| 39 |
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"xyz": [
|
| 40 |
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-0.4912855588173416,
|
| 41 |
+
-0.5007233792191318,
|
| 42 |
+
0.5130688097147232
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.6802272200584412,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.12601700378581882,
|
| 50 |
+
0.006718958204146475,
|
| 51 |
+
0.07435075263492763
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.3370672036358032,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.6181482620377022,
|
| 57 |
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0.6074725728745877,
|
| 58 |
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-0.36777098795043245
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.4485339820384979,
|
| 64 |
+
"position": [
|
| 65 |
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-0.13218149496242404,
|
| 66 |
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-0.014813691901508719,
|
| 67 |
+
0.07896021078340709
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3181987573809588,
|
| 71 |
+
"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.4440496563911438,
|
| 80 |
+
"position": [
|
| 81 |
+
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|
| 82 |
+
-0.0037637237110175192,
|
| 83 |
+
0.07430616836063564
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.36214467127598154,
|
| 87 |
+
"xyz": [
|
| 88 |
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|
| 89 |
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-0.6082772472775384,
|
| 90 |
+
-0.34864174725098873
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.3384643793106079,
|
| 96 |
+
"position": [
|
| 97 |
+
0.12143297540023923,
|
| 98 |
+
-0.0054521323763765395,
|
| 99 |
+
0.07574046473018825
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.37928210915326804,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.561447796219314,
|
| 105 |
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-0.657010383582971,
|
| 106 |
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0.3305432039248136
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_11": {
|
| 111 |
+
"confidence": 0.5925107598304749,
|
| 112 |
+
"position": [
|
| 113 |
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-0.11724603874608874,
|
| 114 |
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-0.0026471990277059376,
|
| 115 |
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0.07576542417518795
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.33605540994583116,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.6262605732420566,
|
| 121 |
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0.6067865522382223,
|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
+
"grasp_12": {
|
| 127 |
+
"confidence": 0.45090171694755554,
|
| 128 |
+
"position": [
|
| 129 |
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0.12550826417282224,
|
| 130 |
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-0.001267419254872948,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.36756717952303514,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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-0.6089017245151002,
|
| 138 |
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-0.3565235126888882
|
| 139 |
+
]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_13": {
|
| 143 |
+
"confidence": 0.42060455679893494,
|
| 144 |
+
"position": [
|
| 145 |
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0.1219862257130444,
|
| 146 |
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-0.0029989786562509835,
|
| 147 |
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0.07164945523254573
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.36200540918282254,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.5987054292123316,
|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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}
|
| 158 |
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}
|
| 159 |
+
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|
dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:bc71a95e8a3522676e07c2369edaa56565bbcf2b0e3fb97a30152544777dfbdf
|
| 3 |
+
size 3779740
|
dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.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>
|