xinjjj commited on
Commit
4a4e6b5
·
verified ·
1 Parent(s): 4e0554a

Add asset bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f

Browse files
.gitattributes CHANGED
@@ -8063,3 +8063,4 @@ dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/affordance/mes
8063
  dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8064
  dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8065
  dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8063
  dataset/bedroom_supplies/storage/790249952b2559a7a068499035b78e16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8064
  dataset/bedroom_supplies/storage/79e6ea3e30c55b23aa217a9cc99c5b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8065
  dataset/bedroom_supplies/storage/7a0470d7136c5775887b6eb1628a9c30/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8066
+ dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,771 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "container body",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the sidewalls to pick up and move the container",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the body while opening or closing the lid",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "stabilize the container during placement on a surface",
18
+ "confidence": 0.87
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain contents",
23
+ "support the whole container",
24
+ "provide main grasp surface",
25
+ "protect contents",
26
+ "stabilize during opening"
27
+ ],
28
+ "semantic_description": "Large blue plastic container body with a smooth semi-gloss finish, slightly tapered rounded-square shape, and white printed logo/text on one side.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_21": {
32
+ "confidence": 0.36070093512535095,
33
+ "position": [
34
+ -0.11735324616893195,
35
+ 0.003079850284848362,
36
+ 0.061499936040490866
37
+ ],
38
+ "orientation": {
39
+ "w": 0.32326220271904743,
40
+ "xyz": [
41
+ 0.6251396834723196,
42
+ 0.6162965100850365,
43
+ 0.3533844027378145
44
+ ]
45
+ }
46
+ },
47
+ "grasp_22": {
48
+ "confidence": 0.3437017798423767,
49
+ "position": [
50
+ -0.11521793212159537,
51
+ 0.003606982820201665,
52
+ 0.0582240535877645
53
+ ],
54
+ "orientation": {
55
+ "w": 0.3294417820031801,
56
+ "xyz": [
57
+ 0.6334068280240652,
58
+ 0.5981507720005405,
59
+ 0.3639774119890124
60
+ ]
61
+ }
62
+ },
63
+ "grasp_24": {
64
+ "confidence": 0.3230300843715668,
65
+ "position": [
66
+ -0.09401474203332327,
67
+ 0.012735256517771631,
68
+ 0.08116390695795417
69
+ ],
70
+ "orientation": {
71
+ "w": 0.24490591939960282,
72
+ "xyz": [
73
+ 0.6625393594747099,
74
+ 0.6698392749555433,
75
+ 0.22886247730221845
76
+ ]
77
+ }
78
+ },
79
+ "grasp_26": {
80
+ "confidence": 0.28302136063575745,
81
+ "position": [
82
+ -0.11694297249778174,
83
+ -0.0034924691426567733,
84
+ 0.056266581173986197
85
+ ],
86
+ "orientation": {
87
+ "w": 0.3230100092478558,
88
+ "xyz": [
89
+ 0.6376817979319708,
90
+ 0.5889795176974546,
91
+ 0.377000777512227
92
+ ]
93
+ }
94
+ },
95
+ "grasp_30": {
96
+ "confidence": 0.23812995851039886,
97
+ "position": [
98
+ -0.11786068286164664,
99
+ 0.002082793216686696,
100
+ 0.029284977819770575
101
+ ],
102
+ "orientation": {
103
+ "w": 0.45550237513897796,
104
+ "xyz": [
105
+ -0.5336658260319904,
106
+ 0.5481688261651888,
107
+ -0.45522446154509566
108
+ ]
109
+ }
110
+ },
111
+ "grasp_31": {
112
+ "confidence": 0.23277069628238678,
113
+ "position": [
114
+ -0.11546921785338782,
115
+ 6.841876893304288e-05,
116
+ -0.05300978431478143
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5791084311190965,
120
+ "xyz": [
121
+ 0.3797660432951404,
122
+ 0.3303557111028651,
123
+ 0.6413082577890704
124
+ ]
125
+ }
126
+ },
127
+ "grasp_32": {
128
+ "confidence": 0.23239809274673462,
129
+ "position": [
130
+ -0.11452800835832022,
131
+ -0.011533643526490778,
132
+ 0.05952262645587325
133
+ ],
134
+ "orientation": {
135
+ "w": 0.31799556183108124,
136
+ "xyz": [
137
+ 0.629665519699011,
138
+ 0.6084270073805457,
139
+ 0.36361618864932715
140
+ ]
141
+ }
142
+ },
143
+ "grasp_33": {
144
+ "confidence": 0.22995895147323608,
145
+ "position": [
146
+ -0.10329626555903815,
147
+ 0.004734971153084189,
148
+ 0.06049092626199126
149
+ ],
150
+ "orientation": {
151
+ "w": 0.3298358139431843,
152
+ "xyz": [
153
+ -0.6199596562317484,
154
+ 0.6207785313921529,
155
+ -0.3485575640379235
156
+ ]
157
+ }
158
+ },
159
+ "grasp_34": {
160
+ "confidence": 0.22821052372455597,
161
+ "position": [
162
+ -0.11556996460421942,
163
+ 0.004186424950603396,
164
+ 0.03944031288847327
165
+ ],
166
+ "orientation": {
167
+ "w": 0.38263640589979886,
168
+ "xyz": [
169
+ -0.5837219938564222,
170
+ 0.5954116700108671,
171
+ -0.3979233066600121
172
+ ]
173
+ }
174
+ },
175
+ "grasp_35": {
176
+ "confidence": 0.22679577767848969,
177
+ "position": [
178
+ -0.10798163767321967,
179
+ -0.0002586650080047548,
180
+ 0.05878153955563903
181
+ ],
182
+ "orientation": {
183
+ "w": 0.3542647629054011,
184
+ "xyz": [
185
+ -0.612357569471792,
186
+ 0.6108463192207501,
187
+ -0.3555017006550609
188
+ ]
189
+ }
190
+ },
191
+ "grasp_37": {
192
+ "confidence": 0.22175762057304382,
193
+ "position": [
194
+ -0.018149678217014298,
195
+ 0.11673918418819085,
196
+ 0.03412489918991923
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5933636948329126,
200
+ "xyz": [
201
+ 0.8018314118191772,
202
+ 0.0028377398827463818,
203
+ 0.07055395032637776
204
+ ]
205
+ }
206
+ }
207
+ }
208
+ },
209
+ {
210
+ "part_name": "lid panel",
211
+ "mask_color": "Orange",
212
+ "graspable": true,
213
+ "grasp_scenarios": [
214
+ {
215
+ "scenario": "grasp the lid edge to lift or remove the lid after releasing the clips",
216
+ "confidence": 0.72
217
+ },
218
+ {
219
+ "scenario": "press on the top surface while closing the container",
220
+ "confidence": 0.56
221
+ }
222
+ ],
223
+ "functional_labels": [
224
+ "cover the container",
225
+ "enclose contents",
226
+ "provide top access when opened",
227
+ "protect contents from dust"
228
+ ],
229
+ "semantic_description": "Flat translucent pale-blue plastic lid panel with a glossy smooth surface and rounded-square recessed shape occupying most of the top.",
230
+ "id": 4,
231
+ "grasp_group": {
232
+ "grasp_51": {
233
+ "confidence": 0.6653484106063843,
234
+ "position": [
235
+ -0.10415236707194708,
236
+ 0.030617977085057646,
237
+ 0.07494073500856757
238
+ ],
239
+ "orientation": {
240
+ "w": 0.12622518664489754,
241
+ "xyz": [
242
+ 0.8919945254970086,
243
+ -0.05398563523102046,
244
+ 0.4306953911159609
245
+ ]
246
+ }
247
+ },
248
+ "grasp_53": {
249
+ "confidence": 0.46708086133003235,
250
+ "position": [
251
+ 0.09338439945713617,
252
+ 0.037552156078163534,
253
+ 0.08795751770958304
254
+ ],
255
+ "orientation": {
256
+ "w": 0.3503182230742174,
257
+ "xyz": [
258
+ 0.021880483524660793,
259
+ -0.9297497114601575,
260
+ 0.1111929002347013
261
+ ]
262
+ }
263
+ },
264
+ "grasp_57": {
265
+ "confidence": 0.2919084131717682,
266
+ "position": [
267
+ 0.07581040952936746,
268
+ -0.015450829116161913,
269
+ 0.09717815509065986
270
+ ],
271
+ "orientation": {
272
+ "w": 0.2903550285452509,
273
+ "xyz": [
274
+ -0.046366018181932526,
275
+ -0.9555208525053797,
276
+ -0.022892142403720808
277
+ ]
278
+ }
279
+ }
280
+ }
281
+ },
282
+ {
283
+ "part_name": "latch clips",
284
+ "mask_color": "Red",
285
+ "graspable": true,
286
+ "grasp_scenarios": [
287
+ {
288
+ "scenario": "pinch and pull the front clip to unlatch the lid",
289
+ "confidence": 0.95
290
+ },
291
+ {
292
+ "scenario": "grasp a side clip to release or secure the lid",
293
+ "confidence": 0.9
294
+ },
295
+ {
296
+ "scenario": "pull the clip outward to disengage the closure",
297
+ "confidence": 0.9
298
+ }
299
+ ],
300
+ "functional_labels": [
301
+ "lock the lid closed",
302
+ "release the lid",
303
+ "provide a small pulling tab",
304
+ "secure contents during transport"
305
+ ],
306
+ "semantic_description": "Small translucent pale-blue plastic clips with a glossy smooth finish and rectangular tab shape attached around the rim at the front and sides.",
307
+ "id": 0,
308
+ "grasp_group": {
309
+ "grasp_0": {
310
+ "confidence": 0.17624829709529877,
311
+ "position": [
312
+ -0.004413669550558552,
313
+ -0.010165089217480272,
314
+ 0.11308462312445045
315
+ ],
316
+ "orientation": {
317
+ "w": 0.015084009404639477,
318
+ "xyz": [
319
+ -0.9997371150767013,
320
+ -0.005136579358598965,
321
+ -0.016486022894807835
322
+ ]
323
+ }
324
+ },
325
+ "grasp_1": {
326
+ "confidence": 0.14380338788032532,
327
+ "position": [
328
+ -0.0008960830455180258,
329
+ 0.000525978859513998,
330
+ 0.1116068228147924
331
+ ],
332
+ "orientation": {
333
+ "w": 0.0013468698679884742,
334
+ "xyz": [
335
+ -0.04124676278686845,
336
+ -0.9991424100678735,
337
+ 0.0033667350539958027
338
+ ]
339
+ }
340
+ },
341
+ "grasp_2": {
342
+ "confidence": 0.1089329645037651,
343
+ "position": [
344
+ -0.008416158700129017,
345
+ -0.007989386504050344,
346
+ 0.11647004773840308
347
+ ],
348
+ "orientation": {
349
+ "w": 0.018574199790536546,
350
+ "xyz": [
351
+ -0.9993236375486789,
352
+ -0.0313952700588008,
353
+ -0.004647962623863547
354
+ ]
355
+ }
356
+ },
357
+ "grasp_3": {
358
+ "confidence": 0.1433563232421875,
359
+ "position": [
360
+ 0.0005989214696455747,
361
+ -0.050545602513011545,
362
+ 0.09803104540333152
363
+ ],
364
+ "orientation": {
365
+ "w": 0.23807644274705309,
366
+ "xyz": [
367
+ -0.971032916434549,
368
+ -0.01561246513266712,
369
+ -0.01307415549870766
370
+ ]
371
+ }
372
+ },
373
+ "grasp_4": {
374
+ "confidence": 0.10551777482032776,
375
+ "position": [
376
+ -0.0006039503787178546,
377
+ -0.008846799319144338,
378
+ 0.12033269694074988
379
+ ],
380
+ "orientation": {
381
+ "w": 0.01380013907229641,
382
+ "xyz": [
383
+ -0.9997790179229,
384
+ -0.009730838652945897,
385
+ -0.012521272372135742
386
+ ]
387
+ }
388
+ },
389
+ "grasp_6": {
390
+ "confidence": 0.2184850126504898,
391
+ "position": [
392
+ -0.012352902995189652,
393
+ -0.0009081669268198311,
394
+ 0.10672953119501472
395
+ ],
396
+ "orientation": {
397
+ "w": 0.019138196337897477,
398
+ "xyz": [
399
+ 0.9974915412153025,
400
+ 0.030998941907787472,
401
+ 0.06069118754358105
402
+ ]
403
+ }
404
+ },
405
+ "grasp_7": {
406
+ "confidence": 0.16232621669769287,
407
+ "position": [
408
+ 0.02175450642243959,
409
+ 0.003923932847101241,
410
+ 0.11973405024036765
411
+ ],
412
+ "orientation": {
413
+ "w": 0.007843934025027168,
414
+ "xyz": [
415
+ -0.995000575400616,
416
+ -0.055194679685036524,
417
+ 0.08286057558284579
418
+ ]
419
+ }
420
+ },
421
+ "grasp_8": {
422
+ "confidence": 0.1217702180147171,
423
+ "position": [
424
+ 0.003349645674461499,
425
+ -0.04541260324185714,
426
+ 0.09609300782904029
427
+ ],
428
+ "orientation": {
429
+ "w": 0.21796016174592348,
430
+ "xyz": [
431
+ -0.9757029969070086,
432
+ -0.0069377434576787245,
433
+ -0.021187199769876687
434
+ ]
435
+ }
436
+ },
437
+ "grasp_9": {
438
+ "confidence": 0.09349028766155243,
439
+ "position": [
440
+ 0.008516555099049583,
441
+ -0.008793834073003381,
442
+ 0.10563967516645789
443
+ ],
444
+ "orientation": {
445
+ "w": 0.03842583415830937,
446
+ "xyz": [
447
+ -0.9992296762039234,
448
+ 0.007616526026601116,
449
+ -0.002344780144584557
450
+ ]
451
+ }
452
+ },
453
+ "grasp_10": {
454
+ "confidence": 0.15550817549228668,
455
+ "position": [
456
+ -0.005947105208178982,
457
+ 0.0006656821933574975,
458
+ -0.09180367598310113
459
+ ],
460
+ "orientation": {
461
+ "w": 0.03183453926713292,
462
+ "xyz": [
463
+ -0.00713674383371096,
464
+ 0.014063207990299476,
465
+ -0.9993687283371051
466
+ ]
467
+ }
468
+ },
469
+ "grasp_11": {
470
+ "confidence": 0.1439451426267624,
471
+ "position": [
472
+ 0.010577694891253486,
473
+ -0.007039959018584341,
474
+ 0.10445246985182166
475
+ ],
476
+ "orientation": {
477
+ "w": 0.026018856387354815,
478
+ "xyz": [
479
+ 0.0363958261669872,
480
+ -0.9987588787220574,
481
+ -0.021887556368294297
482
+ ]
483
+ }
484
+ },
485
+ "grasp_13": {
486
+ "confidence": 0.10466154664754868,
487
+ "position": [
488
+ -0.004994033457478508,
489
+ 0.04139573551947251,
490
+ 0.11365720024332404
491
+ ],
492
+ "orientation": {
493
+ "w": 0.18652376029091192,
494
+ "xyz": [
495
+ 0.9805467657912823,
496
+ 0.04365509028542047,
497
+ 0.04279205575064913
498
+ ]
499
+ }
500
+ },
501
+ "grasp_15": {
502
+ "confidence": 0.9239562749862671,
503
+ "position": [
504
+ -0.1266084020899143,
505
+ 0.03591915644938126,
506
+ -0.0005087144672870636
507
+ ],
508
+ "orientation": {
509
+ "w": 0.13023665954929925,
510
+ "xyz": [
511
+ 0.6796524328100519,
512
+ -0.17095322813111913,
513
+ 0.701345832579311
514
+ ]
515
+ }
516
+ },
517
+ "grasp_16": {
518
+ "confidence": 0.9223946928977966,
519
+ "position": [
520
+ 0.12301363740698434,
521
+ 0.05327639036113396,
522
+ 0.007356476970016956
523
+ ],
524
+ "orientation": {
525
+ "w": 0.16231179232158527,
526
+ "xyz": [
527
+ 0.6909780912433341,
528
+ 0.1970678374813133,
529
+ -0.67629019431418
530
+ ]
531
+ }
532
+ },
533
+ "grasp_17": {
534
+ "confidence": 0.907376229763031,
535
+ "position": [
536
+ -0.12251465077861212,
537
+ 0.05053855531150475,
538
+ 0.02983353240415454
539
+ ],
540
+ "orientation": {
541
+ "w": 0.1825952430346168,
542
+ "xyz": [
543
+ 0.7537554924636899,
544
+ -0.17562673536389195,
545
+ 0.6063554111471021
546
+ ]
547
+ }
548
+ }
549
+ }
550
+ },
551
+ {
552
+ "part_name": "lid rim frame",
553
+ "mask_color": "Pink",
554
+ "graspable": true,
555
+ "grasp_scenarios": [
556
+ {
557
+ "scenario": "hold the rim lightly to steady the lid during opening or closing",
558
+ "confidence": 0.62
559
+ },
560
+ {
561
+ "scenario": "use the rim as a secondary contact point while repositioning the container",
562
+ "confidence": 0.44
563
+ }
564
+ ],
565
+ "functional_labels": [
566
+ "support the lid",
567
+ "seat against the container body",
568
+ "align the closure",
569
+ "provide structural border around the lid"
570
+ ],
571
+ "semantic_description": "Raised translucent pale-blue plastic rim around the top opening, with a glossy smooth hard surface and rounded-square border shape encircling the lid.",
572
+ "id": 8,
573
+ "grasp_group": {
574
+ "grasp_60": {
575
+ "confidence": 0.20243681967258453,
576
+ "position": [
577
+ -0.1314699059294071,
578
+ 0.01009110506856814,
579
+ 0.015477898996323347
580
+ ],
581
+ "orientation": {
582
+ "w": 0.4958822475293859,
583
+ "xyz": [
584
+ -0.4911678510339114,
585
+ 0.5000635392155918,
586
+ -0.5126318322569431
587
+ ]
588
+ }
589
+ },
590
+ "grasp_61": {
591
+ "confidence": 0.12012722343206406,
592
+ "position": [
593
+ 0.12414917294518091,
594
+ -0.002549752069171518,
595
+ 0.02232637768611312
596
+ ],
597
+ "orientation": {
598
+ "w": 0.4983027692643948,
599
+ "xyz": [
600
+ -0.48100547396204085,
601
+ -0.5358039149999873,
602
+ 0.4829516009215355
603
+ ]
604
+ }
605
+ },
606
+ "grasp_62": {
607
+ "confidence": 0.06588736176490784,
608
+ "position": [
609
+ 0.11578507666126825,
610
+ 0.010470917040947825,
611
+ 0.027765713166445494
612
+ ],
613
+ "orientation": {
614
+ "w": 0.49364953706326026,
615
+ "xyz": [
616
+ -0.48946436121445,
617
+ -0.5364300770632848,
618
+ 0.47851598309778304
619
+ ]
620
+ }
621
+ },
622
+ "grasp_63": {
623
+ "confidence": 0.17903076112270355,
624
+ "position": [
625
+ -0.11433000172837637,
626
+ -0.0077476067817769945,
627
+ 0.06662953412160277
628
+ ],
629
+ "orientation": {
630
+ "w": 0.35868443738790634,
631
+ "xyz": [
632
+ -0.600452608602848,
633
+ 0.6191548538509742,
634
+ -0.35700056883783166
635
+ ]
636
+ }
637
+ },
638
+ "grasp_64": {
639
+ "confidence": 0.11024512350559235,
640
+ "position": [
641
+ -0.11319878752692603,
642
+ -0.0029014755855314434,
643
+ -0.024202604312449694
644
+ ],
645
+ "orientation": {
646
+ "w": 0.5975377485880841,
647
+ "xyz": [
648
+ -0.36220300581367915,
649
+ 0.3881381975178382,
650
+ -0.600921260415558
651
+ ]
652
+ }
653
+ },
654
+ "grasp_65": {
655
+ "confidence": 0.09006624668836594,
656
+ "position": [
657
+ 0.09519109074608423,
658
+ -0.0011859926744364202,
659
+ 0.0756701692007482
660
+ ],
661
+ "orientation": {
662
+ "w": 0.33593922760683675,
663
+ "xyz": [
664
+ 0.6493358211775087,
665
+ -0.5996271742634011,
666
+ -0.32550741708222497
667
+ ]
668
+ }
669
+ },
670
+ "grasp_67": {
671
+ "confidence": 0.2110387086868286,
672
+ "position": [
673
+ -0.13291573579772376,
674
+ 0.010555763321463019,
675
+ 0.01646622410044074
676
+ ],
677
+ "orientation": {
678
+ "w": 0.4910107849627792,
679
+ "xyz": [
680
+ -0.48662194975377576,
681
+ 0.513386493796584,
682
+ -0.508470053253207
683
+ ]
684
+ }
685
+ },
686
+ "grasp_68": {
687
+ "confidence": 0.1834179013967514,
688
+ "position": [
689
+ -0.10482163782580756,
690
+ 0.0003591494169086218,
691
+ 0.06705035036429763
692
+ ],
693
+ "orientation": {
694
+ "w": 0.3445470207115176,
695
+ "xyz": [
696
+ -0.602081721909647,
697
+ 0.6257673297432499,
698
+ -0.35665136994989066
699
+ ]
700
+ }
701
+ },
702
+ "grasp_70": {
703
+ "confidence": 0.15243591368198395,
704
+ "position": [
705
+ 0.11073014829889871,
706
+ -0.009655391273554415,
707
+ 0.0703572197817266
708
+ ],
709
+ "orientation": {
710
+ "w": 0.3229173748910497,
711
+ "xyz": [
712
+ 0.6318587533847234,
713
+ -0.6049383834433024,
714
+ -0.36128719462718406
715
+ ]
716
+ }
717
+ },
718
+ "grasp_74": {
719
+ "confidence": 0.3073797821998596,
720
+ "position": [
721
+ -0.11435502822860144,
722
+ 0.010113880562130362,
723
+ 0.06638140743598342
724
+ ],
725
+ "orientation": {
726
+ "w": 0.34278447637370996,
727
+ "xyz": [
728
+ -0.6169579143149619,
729
+ 0.6038277451431697,
730
+ -0.37047778464659464
731
+ ]
732
+ }
733
+ },
734
+ "grasp_77": {
735
+ "confidence": 0.16087207198143005,
736
+ "position": [
737
+ -0.10415480341180228,
738
+ -0.012524240126367658,
739
+ 0.08002705266699195
740
+ ],
741
+ "orientation": {
742
+ "w": 0.3253205190227212,
743
+ "xyz": [
744
+ -0.6461977192936077,
745
+ 0.6195915351848822,
746
+ -0.3044690411351679
747
+ ]
748
+ }
749
+ }
750
+ }
751
+ },
752
+ {
753
+ "part_name": "inner lid gasket channel",
754
+ "mask_color": "Magenta",
755
+ "graspable": false,
756
+ "grasp_scenarios": [],
757
+ "functional_labels": [
758
+ "provide the inner seating boundary of the lid",
759
+ "help align the lid with the container opening",
760
+ "support the sealing interface"
761
+ ],
762
+ "semantic_description": "Thin translucent pale-blue inner border just inside the outer lid frame, visible as a narrow rounded-square ring around the recessed lid area.",
763
+ "id": 7,
764
+ "grasp_group": {}
765
+ }
766
+ ],
767
+ "quality_check": {
768
+ "success": true,
769
+ "message": "YES"
770
+ }
771
+ }
dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:194f2ea1359d6db7d1a10cf9a32570d3e6868d059f86d893447a0f1144f4840e
3
+ size 3784716
dataset/bedroom_supplies/storage/7a6d4ab5d5535250acbaaa9852ec7e8f/pill_organizer_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>