Add asset bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/affordance_annot.json +473 -0
- dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.urdf +1 -0
.gitattributes
CHANGED
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@@ -5970,3 +5970,4 @@ dataset/bedroom_supplies/storage/16f35580b739532098b5ae9eac875487/affordance/mes
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| 5970 |
dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5971 |
dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5972 |
dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5970 |
dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5971 |
dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5972 |
dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/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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dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,473 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front edge of the lid to open the jewelry box",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while positioning it open to access the interior",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the box",
|
| 19 |
+
"protect stored jewelry",
|
| 20 |
+
"open for access",
|
| 21 |
+
"provide top enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded rectangular white outer lid with a smooth matte leather-like surface, medium-sized and attached at the rear. The inside of the lid has purple padded lining with gold logo text visible.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9685340523719788,
|
| 28 |
+
"position": [
|
| 29 |
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-0.012892011785879731,
|
| 30 |
+
0.02846645948011428,
|
| 31 |
+
0.14670364349149168
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.047987573114969484,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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-0.9985739251448217,
|
| 38 |
+
0.012915478843250415
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_4": {
|
| 43 |
+
"confidence": 0.967438817024231,
|
| 44 |
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"position": [
|
| 45 |
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-0.015075432369485497,
|
| 46 |
+
0.006489778053946793,
|
| 47 |
+
0.15036079077981412
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.034337878363185685,
|
| 51 |
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"xyz": [
|
| 52 |
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0.01728961044858273,
|
| 53 |
+
-0.998794367155775,
|
| 54 |
+
0.03052526196359206
|
| 55 |
+
]
|
| 56 |
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}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.9672015905380249,
|
| 60 |
+
"position": [
|
| 61 |
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-0.017591580981388688,
|
| 62 |
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0.015799712506122887,
|
| 63 |
+
0.14904553978703916
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.04071393295041414,
|
| 67 |
+
"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
+
]
|
| 72 |
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}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
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"confidence": 0.9670188426971436,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.05632595537278869,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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-0.9980846531299261,
|
| 86 |
+
-0.008229940201075736
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_10": {
|
| 91 |
+
"confidence": 0.9653189182281494,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.008784688310697675,
|
| 94 |
+
0.026809536037035286,
|
| 95 |
+
0.14498603134416044
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.05781114940032375,
|
| 99 |
+
"xyz": [
|
| 100 |
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0.02672402726975726,
|
| 101 |
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-0.9978957116128785,
|
| 102 |
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0.012159198827443244
|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_11": {
|
| 107 |
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"confidence": 0.9642565846443176,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.062381811162832285,
|
| 115 |
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"xyz": [
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| 116 |
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|
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|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_12": {
|
| 123 |
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"confidence": 0.964039146900177,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
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|
| 131 |
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| 132 |
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| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_13": {
|
| 139 |
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"confidence": 0.9634304046630859,
|
| 140 |
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"position": [
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
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| 146 |
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"w": 0.04655080634197966,
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| 147 |
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"xyz": [
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| 148 |
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|
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|
| 151 |
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]
|
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}
|
| 153 |
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},
|
| 154 |
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"grasp_15": {
|
| 155 |
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"confidence": 0.9627541899681091,
|
| 156 |
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"position": [
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"semantic_description": "Thin narrow hinge strip at the rear joint, appearing as a small low-profile connector between the lid and base, mostly concealed from view.",
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| 471 |
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"message": "Lid and body descriptions misstate base color and omit front button closure; mask/body details not fully accurate."
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| 472 |
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}
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| 473 |
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}
|
dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20bf9fcd7ea21885fcd7662cc0fd83fc4b2559d855d5f7041e39df960cdfac77
|
| 3 |
+
size 3780096
|
dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/jewelry_box_017.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>
|