xinjjj commited on
Commit
2aa59c6
·
verified ·
1 Parent(s): 357c89d

Add asset bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d

Browse files
.gitattributes CHANGED
@@ -8049,3 +8049,4 @@ dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/mes
8049
  dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8050
  dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8051
  dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8049
  dataset/bedroom_supplies/storage/6cc80f29778353b7822b2e1c10f0dcfe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8050
  dataset/bedroom_supplies/storage/6df622d908ba531a957a428e4fc4adee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8051
  dataset/bedroom_supplies/storage/6e4307004a465daca0e93b4148582986/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8052
+ dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,401 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "holder body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer body from the sides to pick up and reposition the remote holder",
10
+ "confidence": 0.91
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the holder while placing or removing a remote",
14
+ "confidence": 0.73
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain a remote or small device",
19
+ "provide the main enclosure",
20
+ "guide insertion into the opening",
21
+ "protect stored contents"
22
+ ],
23
+ "semantic_description": "Large light-gray plastic shell with a matte smooth hard surface, rounded rectangular shape, and an open front cavity forming the main upper body of the holder.",
24
+ "id": 3,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9762741327285767,
28
+ "position": [
29
+ 0.11944462219253182,
30
+ -0.017490465434093494,
31
+ 0.08552688453346491
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5688234211863441,
35
+ "xyz": [
36
+ -0.07923465278502104,
37
+ -0.8159835301585321,
38
+ -0.06582297332937813
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.9761369824409485,
44
+ "position": [
45
+ 0.12138758460059762,
46
+ -0.01840859675576212,
47
+ 0.07308913115411997
48
+ ],
49
+ "orientation": {
50
+ "w": 0.6286778434952195,
51
+ "xyz": [
52
+ -0.0033638815525463633,
53
+ -0.7765290833712618,
54
+ -0.04189792450334984
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.973909854888916,
60
+ "position": [
61
+ 0.11654951283708215,
62
+ -0.0026965497600031085,
63
+ 0.0853668162599206
64
+ ],
65
+ "orientation": {
66
+ "w": 0.5563715880184658,
67
+ "xyz": [
68
+ 0.13832607480494644,
69
+ -0.8192979137326966,
70
+ 0.008214720209302199
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.9734009504318237,
76
+ "position": [
77
+ 0.12163648614659905,
78
+ -0.014568753780622501,
79
+ 0.06248170230537653
80
+ ],
81
+ "orientation": {
82
+ "w": 0.6677011855131129,
83
+ "xyz": [
84
+ -0.05640060047203387,
85
+ -0.7417411748053242,
86
+ -0.028532941124168
87
+ ]
88
+ }
89
+ },
90
+ "grasp_24": {
91
+ "confidence": 0.9733395576477051,
92
+ "position": [
93
+ 0.12638024846091866,
94
+ -0.02187141613831045,
95
+ 0.06704696360975504
96
+ ],
97
+ "orientation": {
98
+ "w": 0.6568164713778698,
99
+ "xyz": [
100
+ -0.03577777532970472,
101
+ -0.7511108867689212,
102
+ -0.05607592617501307
103
+ ]
104
+ }
105
+ },
106
+ "grasp_25": {
107
+ "confidence": 0.973303496837616,
108
+ "position": [
109
+ 0.12236142018809915,
110
+ -0.01358905551751377,
111
+ 0.06019504461437464
112
+ ],
113
+ "orientation": {
114
+ "w": 0.6621691967854811,
115
+ "xyz": [
116
+ 0.07450542459648316,
117
+ -0.7446525201027867,
118
+ -0.03838646686968741
119
+ ]
120
+ }
121
+ },
122
+ "grasp_26": {
123
+ "confidence": 0.9730259776115417,
124
+ "position": [
125
+ 0.11722213635221124,
126
+ -0.001127780655224342,
127
+ 0.07156677637249231
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6183611261593861,
131
+ "xyz": [
132
+ -0.02102572864435819,
133
+ -0.7856005344422011,
134
+ -0.004385963291880912
135
+ ]
136
+ }
137
+ },
138
+ "grasp_27": {
139
+ "confidence": 0.97295081615448,
140
+ "position": [
141
+ 0.12257198104634881,
142
+ -0.018846610801119823,
143
+ 0.07018434349447489
144
+ ],
145
+ "orientation": {
146
+ "w": 0.6410540782917087,
147
+ "xyz": [
148
+ 0.04148984442240595,
149
+ -0.7637816297838528,
150
+ -0.06297526117527727
151
+ ]
152
+ }
153
+ },
154
+ "grasp_28": {
155
+ "confidence": 0.9723209738731384,
156
+ "position": [
157
+ 0.12855023751035333,
158
+ -0.004195330438960809,
159
+ 0.05917744431644678
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6739159710025422,
163
+ "xyz": [
164
+ -0.02305246066844588,
165
+ -0.738440486735659,
166
+ -0.003390521262806073
167
+ ]
168
+ }
169
+ },
170
+ "grasp_29": {
171
+ "confidence": 0.9721273183822632,
172
+ "position": [
173
+ 0.122722661588341,
174
+ -0.017485810683865566,
175
+ 0.06412945780903101
176
+ ],
177
+ "orientation": {
178
+ "w": 0.6612238078208634,
179
+ "xyz": [
180
+ 0.01568455441338462,
181
+ -0.748561062222169,
182
+ -0.04683382163084093
183
+ ]
184
+ }
185
+ },
186
+ "grasp_30": {
187
+ "confidence": 0.971847414970398,
188
+ "position": [
189
+ 0.1170190260745585,
190
+ -0.027249133454461116,
191
+ 0.08381832484155893
192
+ ],
193
+ "orientation": {
194
+ "w": 0.5501883741774705,
195
+ "xyz": [
196
+ -0.006778276895282616,
197
+ -0.8266586023740672,
198
+ -0.11782343995673102
199
+ ]
200
+ }
201
+ },
202
+ "grasp_31": {
203
+ "confidence": 0.9717683792114258,
204
+ "position": [
205
+ 0.12770157912746072,
206
+ -0.02168279165198328,
207
+ 0.06063924077898264
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6714612670232014,
211
+ "xyz": [
212
+ 0.008010240398203751,
213
+ -0.739588616572617,
214
+ -0.04565392833659844
215
+ ]
216
+ }
217
+ },
218
+ "grasp_32": {
219
+ "confidence": 0.9716048836708069,
220
+ "position": [
221
+ 0.1281598717905581,
222
+ -0.03254758031835081,
223
+ 0.06878832820802927
224
+ ],
225
+ "orientation": {
226
+ "w": 0.6397288110432615,
227
+ "xyz": [
228
+ 0.019178350161629953,
229
+ -0.7655392497490806,
230
+ -0.0657943485404933
231
+ ]
232
+ }
233
+ },
234
+ "grasp_33": {
235
+ "confidence": 0.9710537195205688,
236
+ "position": [
237
+ 0.12440570304170251,
238
+ -0.012154425734479446,
239
+ 0.08229261729866266
240
+ ],
241
+ "orientation": {
242
+ "w": 0.6010308797833039,
243
+ "xyz": [
244
+ 0.05457261619703389,
245
+ -0.7964822077168393,
246
+ -0.037413953263827245
247
+ ]
248
+ }
249
+ },
250
+ "grasp_34": {
251
+ "confidence": 0.9708045721054077,
252
+ "position": [
253
+ 0.12041593948379159,
254
+ -0.01350513404031517,
255
+ 0.061435663141310215
256
+ ],
257
+ "orientation": {
258
+ "w": 0.6708088066934496,
259
+ "xyz": [
260
+ -0.04967682556417552,
261
+ -0.7395049134386252,
262
+ -0.026081427578039912
263
+ ]
264
+ }
265
+ },
266
+ "grasp_35": {
267
+ "confidence": 0.9706951975822449,
268
+ "position": [
269
+ 0.1304596127010882,
270
+ -0.025527380646963138,
271
+ 0.06127725634723902
272
+ ],
273
+ "orientation": {
274
+ "w": 0.6668466303710318,
275
+ "xyz": [
276
+ 0.01957440914320683,
277
+ -0.7428295689988687,
278
+ -0.05600576301104691
279
+ ]
280
+ }
281
+ },
282
+ "grasp_36": {
283
+ "confidence": 0.9702301621437073,
284
+ "position": [
285
+ 0.12767055490985513,
286
+ -0.0008472994741168804,
287
+ 0.07833281997591257
288
+ ],
289
+ "orientation": {
290
+ "w": 0.6157865023245752,
291
+ "xyz": [
292
+ 0.03829258748237697,
293
+ -0.7868724419472878,
294
+ -0.013130933046873745
295
+ ]
296
+ }
297
+ },
298
+ "grasp_37": {
299
+ "confidence": 0.9699199795722961,
300
+ "position": [
301
+ 0.12193214753642678,
302
+ 0.010552307350735646,
303
+ 0.08129953686147928
304
+ ],
305
+ "orientation": {
306
+ "w": 0.5861895608252392,
307
+ "xyz": [
308
+ 0.1476486546983145,
309
+ -0.7907322950068293,
310
+ 0.09656143732631661
311
+ ]
312
+ }
313
+ },
314
+ "grasp_38": {
315
+ "confidence": 0.9698636531829834,
316
+ "position": [
317
+ 0.12196097383275628,
318
+ -0.030418196933169384,
319
+ 0.059620567597448826
320
+ ],
321
+ "orientation": {
322
+ "w": 0.6656719754669287,
323
+ "xyz": [
324
+ -0.005263137968142777,
325
+ -0.7427023118348525,
326
+ -0.07243201261769959
327
+ ]
328
+ }
329
+ },
330
+ "grasp_39": {
331
+ "confidence": 0.9694029092788696,
332
+ "position": [
333
+ 0.12139060208573937,
334
+ -0.03192861588468077,
335
+ 0.05853518936783075
336
+ ],
337
+ "orientation": {
338
+ "w": 0.6693955757953314,
339
+ "xyz": [
340
+ -0.0811296713952264,
341
+ -0.7327003056285779,
342
+ -0.09207497845086898
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "base plate",
350
+ "mask_color": "Pink",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "grasp the wide base plate at opposite edges to lift the holder from a table",
355
+ "confidence": 0.78
356
+ },
357
+ {
358
+ "scenario": "pinch the front or side of the base plate to slide or reposition the holder",
359
+ "confidence": 0.69
360
+ }
361
+ ],
362
+ "functional_labels": [
363
+ "support on a flat surface",
364
+ "stabilize the holder",
365
+ "spread load on the table",
366
+ "provide a resting footprint"
367
+ ],
368
+ "semantic_description": "Flat light-gray plastic plate with a matte smooth hard finish, broad rounded-square shape, and low profile positioned beneath the holder as the footprint.",
369
+ "id": 8,
370
+ "grasp_group": {}
371
+ },
372
+ {
373
+ "part_name": "swivel pedestal",
374
+ "mask_color": "Green",
375
+ "graspable": true,
376
+ "grasp_scenarios": [
377
+ {
378
+ "scenario": "grasp the circular pedestal to rotate or reorient the holder on its base",
379
+ "confidence": 0.58
380
+ },
381
+ {
382
+ "scenario": "hold the pedestal while stabilizing the object during placement",
383
+ "confidence": 0.42
384
+ }
385
+ ],
386
+ "functional_labels": [
387
+ "connect body to base",
388
+ "allow rotation or orientation adjustment",
389
+ "elevate the holder body slightly",
390
+ "support the upper body"
391
+ ],
392
+ "semantic_description": "Small light-gray circular plastic pedestal with a matte smooth hard surface, centered between body and base, appearing as a short round support disk.",
393
+ "id": 1,
394
+ "grasp_group": {}
395
+ }
396
+ ],
397
+ "quality_check": {
398
+ "success": true,
399
+ "message": "YES"
400
+ }
401
+ }
dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8db20a4a7262e73bd10c726e416c8e84c9037f70d6e5b2ca9abc54094effe22
3
+ size 3780576
dataset/bedroom_supplies/storage/6ff83a93cef75abea61e4d54d525cc3d/remote_holder_037.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>