Add asset bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/affordance_annot.json +581 -0
- dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -5950,4 +5950,4 @@ dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/affo
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| 5950 |
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5951 |
dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5952 |
dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5953 |
-
dataset/bedroom_supplies/storage/
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| 5950 |
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5951 |
dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5952 |
dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5953 |
+
dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,581 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "container body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewalls to pick up and carry the pill organizer",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while opening or closing the lid",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition the organizer on a surface",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pills",
|
| 23 |
+
"support the lid",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"stabilize on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Square white plastic container body with a semi-gloss hard smooth surface, rounded corners, medium size, shallow depth, and blue printed text/logo on one side.",
|
| 29 |
+
"id": 5,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.4161829948425293,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0037119113840162754,
|
| 35 |
+
0.013125476529239677,
|
| 36 |
+
-0.10464205231983215
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.9977765957132091,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.025986002249163323,
|
| 42 |
+
-0.009086031254213145,
|
| 43 |
+
0.060696266525324664
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.4080432653427124,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0014732570853084326,
|
| 51 |
+
0.025649628703831695,
|
| 52 |
+
-0.09913632657844573
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.9982555551499348,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.046755497086421585,
|
| 58 |
+
0.021109030525725325,
|
| 59 |
+
0.02922633974277866
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.39953720569610596,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.002755312481895089,
|
| 67 |
+
0.01635868578159716,
|
| 68 |
+
-0.1019207650097087
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.9908960486914408,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.04121298391841277,
|
| 74 |
+
-0.0032046752242470555,
|
| 75 |
+
0.12812587834211064
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.36391401290893555,
|
| 81 |
+
"position": [
|
| 82 |
+
0.0025926948292180896,
|
| 83 |
+
0.016728102331398986,
|
| 84 |
+
-0.10616721597034484
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.9994414097963318,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.025319063854812567,
|
| 90 |
+
0.01968841155720802,
|
| 91 |
+
0.009390412141687862
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.3478443920612335,
|
| 97 |
+
"position": [
|
| 98 |
+
0.0014037923247087747,
|
| 99 |
+
0.01385397846752312,
|
| 100 |
+
-0.10879831400234252
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.9996989189911422,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.020483732239753995,
|
| 106 |
+
0.008030482664147187,
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|
| 518 |
+
"orientation": {
|
| 519 |
+
"w": 0.014903188677101926,
|
| 520 |
+
"xyz": [
|
| 521 |
+
0.09019900849413634,
|
| 522 |
+
0.995480009804817,
|
| 523 |
+
-0.02572127354801135
|
| 524 |
+
]
|
| 525 |
+
}
|
| 526 |
+
},
|
| 527 |
+
"grasp_58": {
|
| 528 |
+
"confidence": 0.1497521996498108,
|
| 529 |
+
"position": [
|
| 530 |
+
0.0114885529037565,
|
| 531 |
+
0.002490817438228987,
|
| 532 |
+
0.11237323645036668
|
| 533 |
+
],
|
| 534 |
+
"orientation": {
|
| 535 |
+
"w": 0.02996873687150233,
|
| 536 |
+
"xyz": [
|
| 537 |
+
0.021808402380108664,
|
| 538 |
+
-0.9991616040751377,
|
| 539 |
+
0.01738842540174694
|
| 540 |
+
]
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"grasp_59": {
|
| 544 |
+
"confidence": 0.13807064294815063,
|
| 545 |
+
"position": [
|
| 546 |
+
0.007286009611561894,
|
| 547 |
+
-0.0027161942707607523,
|
| 548 |
+
0.10849149140994996
|
| 549 |
+
],
|
| 550 |
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"orientation": {
|
| 551 |
+
"w": 0.009662911766115256,
|
| 552 |
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"xyz": [
|
| 553 |
+
0.004448338359088911,
|
| 554 |
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0.9998768792838171,
|
| 555 |
+
-0.011535453857479996
|
| 556 |
+
]
|
| 557 |
+
}
|
| 558 |
+
}
|
| 559 |
+
}
|
| 560 |
+
},
|
| 561 |
+
{
|
| 562 |
+
"part_name": "foot pads",
|
| 563 |
+
"mask_color": "Yellow",
|
| 564 |
+
"graspable": false,
|
| 565 |
+
"grasp_scenarios": [],
|
| 566 |
+
"functional_labels": [
|
| 567 |
+
"support on a surface",
|
| 568 |
+
"reduce sliding",
|
| 569 |
+
"space the base from the table",
|
| 570 |
+
"protect the bottom"
|
| 571 |
+
],
|
| 572 |
+
"semantic_description": "Four small round white plastic feet on the underside, with smooth hard surfaces and low-profile raised shapes positioned near the base corners.",
|
| 573 |
+
"id": 3,
|
| 574 |
+
"grasp_group": {}
|
| 575 |
+
}
|
| 576 |
+
],
|
| 577 |
+
"quality_check": {
|
| 578 |
+
"success": true,
|
| 579 |
+
"message": "YES"
|
| 580 |
+
}
|
| 581 |
+
}
|
dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e3d5d4c90df25eeb4f66c685512111b997cf9acab557ecc98d209df23b62451a
|
| 3 |
+
size 3782956
|
dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.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>
|