xinjjj commited on
Commit
6f86b23
·
verified ·
1 Parent(s): fe5333b

Add asset bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d

Browse files
.gitattributes CHANGED
@@ -6023,3 +6023,4 @@ dataset/bedroom_supplies/storage/4c087b34c5d25bf1a02d106cd5040490/affordance/mes
6023
  dataset/bedroom_supplies/storage/4c77224e5adb5c7e88fd8d96def0bb61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6024
  dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6025
  dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6023
  dataset/bedroom_supplies/storage/4c77224e5adb5c7e88fd8d96def0bb61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6024
  dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6025
  dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6026
+ dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,382 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "outer holder body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the holder\u2019s outer side walls to pick up and move the whole holder",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the outer body to reposition the holder on a surface",
14
+ "confidence": 0.89
15
+ },
16
+ {
17
+ "scenario": "stabilize the holder by clamping the side walls while inserting or removing the remote",
18
+ "confidence": 0.79
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main structure",
23
+ "enclose and support the storage cavity",
24
+ "support upright placement",
25
+ "provide main grasp surface"
26
+ ],
27
+ "semantic_description": "Tall tapered white plastic housing with smooth semi-gloss surfaces and flat side walls, forming the main exterior shell around the front opening.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8430363535881042,
32
+ "position": [
33
+ 0.1170113910920918,
34
+ 0.030933546368032694,
35
+ 0.1407813746482134
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5419656658328528,
39
+ "xyz": [
40
+ -0.07581783112056717,
41
+ -0.8284143519656203,
42
+ 0.11939235737645605
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.8252975344657898,
48
+ "position": [
49
+ -0.08420284045860171,
50
+ -0.00860272767022252,
51
+ 0.15466799028217793
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3158771666595811,
55
+ "xyz": [
56
+ 0.6330020399951056,
57
+ 0.620120222931184,
58
+ 0.33908839858793227
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.8243036866188049,
64
+ "position": [
65
+ -0.1089906538836658,
66
+ -0.0070310127921402454,
67
+ 0.11271029151976109
68
+ ],
69
+ "orientation": {
70
+ "w": 0.42032718918039425,
71
+ "xyz": [
72
+ 0.558779235889185,
73
+ 0.56919865281941,
74
+ 0.432554867275097
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.813130795955658,
80
+ "position": [
81
+ 0.11960849212482572,
82
+ -0.006409307476133108,
83
+ 0.10150808282196522
84
+ ],
85
+ "orientation": {
86
+ "w": 0.49469069107496166,
87
+ "xyz": [
88
+ 0.5271902171810793,
89
+ -0.4905169967679378,
90
+ -0.486564148858202
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.8122512698173523,
96
+ "position": [
97
+ -0.1073385993950069,
98
+ -0.006387213710695505,
99
+ 0.10487050004303455
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4642064870134834,
103
+ "xyz": [
104
+ -0.539421569074293,
105
+ 0.5534927440869686,
106
+ -0.4326459181306429
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.8046501874923706,
112
+ "position": [
113
+ -0.11318919016048312,
114
+ -0.007127685938030481,
115
+ 0.09534342028200626
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4810231882524702,
119
+ "xyz": [
120
+ 0.5163822054440027,
121
+ 0.5192051838737811,
122
+ 0.4820706248080348
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.8042500615119934,
128
+ "position": [
129
+ -0.10918667865917087,
130
+ -0.00506605114787817,
131
+ 0.09173292852938175
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4934424934269863,
135
+ "xyz": [
136
+ 0.5005087285039336,
137
+ 0.5073501465553044,
138
+ 0.498599385441103
139
+ ]
140
+ }
141
+ },
142
+ "grasp_8": {
143
+ "confidence": 0.8020286560058594,
144
+ "position": [
145
+ -0.09220678312703967,
146
+ -0.0056511033326387405,
147
+ 0.1464166957885027
148
+ ],
149
+ "orientation": {
150
+ "w": 0.32895424182948774,
151
+ "xyz": [
152
+ 0.6140295181583939,
153
+ 0.6177171972830653,
154
+ 0.36494153202028407
155
+ ]
156
+ }
157
+ },
158
+ "grasp_9": {
159
+ "confidence": 0.8013516068458557,
160
+ "position": [
161
+ -0.1056315372698009,
162
+ -0.004094093572348356,
163
+ 0.10319932736456394
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4602201899014536,
167
+ "xyz": [
168
+ 0.5317407264147358,
169
+ 0.5362357941087197,
170
+ 0.46679797535506745
171
+ ]
172
+ }
173
+ },
174
+ "grasp_10": {
175
+ "confidence": 0.8002404570579529,
176
+ "position": [
177
+ -0.11247835261747241,
178
+ -0.004734991118311882,
179
+ 0.10274223424494267
180
+ ],
181
+ "orientation": {
182
+ "w": 0.4959585483497043,
183
+ "xyz": [
184
+ -0.514133720104775,
185
+ 0.5234458662023997,
186
+ -0.4644309004854204
187
+ ]
188
+ }
189
+ },
190
+ "grasp_12": {
191
+ "confidence": 0.7981926202774048,
192
+ "position": [
193
+ -0.11232325388118625,
194
+ -0.005888553336262703,
195
+ 0.1049796286970377
196
+ ],
197
+ "orientation": {
198
+ "w": 0.4831491100918794,
199
+ "xyz": [
200
+ 0.5022570419516562,
201
+ 0.518589311606009,
202
+ 0.4953482886973605
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.7980741262435913,
208
+ "position": [
209
+ 0.12152349995449185,
210
+ 0.01470470940694213,
211
+ 0.08292591013014317
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4616092334463543,
215
+ "xyz": [
216
+ -0.5003144423106715,
217
+ -0.5666621118392443,
218
+ 0.4642159254251395
219
+ ]
220
+ }
221
+ },
222
+ "grasp_14": {
223
+ "confidence": 0.7979674935340881,
224
+ "position": [
225
+ -0.1052350620739162,
226
+ -0.003466825932264328,
227
+ 0.10533839650452137
228
+ ],
229
+ "orientation": {
230
+ "w": 0.4630371761683653,
231
+ "xyz": [
232
+ -0.5571891624818022,
233
+ 0.561059353656917,
234
+ -0.40043627754355166
235
+ ]
236
+ }
237
+ },
238
+ "grasp_15": {
239
+ "confidence": 0.7971830368041992,
240
+ "position": [
241
+ 0.12369286315515637,
242
+ -0.07214967301115394,
243
+ 0.08752101100981236
244
+ ],
245
+ "orientation": {
246
+ "w": 0.41950637051674056,
247
+ "xyz": [
248
+ 0.34215870162791223,
249
+ -0.6393408696307555,
250
+ -0.546063256789872
251
+ ]
252
+ }
253
+ },
254
+ "grasp_16": {
255
+ "confidence": 0.7969720959663391,
256
+ "position": [
257
+ -0.09401032282039523,
258
+ -0.002959169913083315,
259
+ 0.146675618365407
260
+ ],
261
+ "orientation": {
262
+ "w": 0.3336301537904668,
263
+ "xyz": [
264
+ 0.6147054978521809,
265
+ 0.6144621728421822,
266
+ 0.36505384471077124
267
+ ]
268
+ }
269
+ },
270
+ "grasp_17": {
271
+ "confidence": 0.796682596206665,
272
+ "position": [
273
+ 0.11673529492691159,
274
+ 0.0014602504088543355,
275
+ 0.07308699376881123
276
+ ],
277
+ "orientation": {
278
+ "w": 0.46655927840571415,
279
+ "xyz": [
280
+ -0.5219437045158452,
281
+ -0.5533975963734941,
282
+ 0.451274095620228
283
+ ]
284
+ }
285
+ },
286
+ "grasp_18": {
287
+ "confidence": 0.7963411211967468,
288
+ "position": [
289
+ -0.10781387193128467,
290
+ -0.006247189361602068,
291
+ 0.09782529808580875
292
+ ],
293
+ "orientation": {
294
+ "w": 0.4966536002727271,
295
+ "xyz": [
296
+ 0.4965597950102739,
297
+ 0.5011456207407855,
298
+ 0.5055854409769196
299
+ ]
300
+ }
301
+ },
302
+ "grasp_19": {
303
+ "confidence": 0.7952211499214172,
304
+ "position": [
305
+ -0.08795465482398868,
306
+ -0.0020394527819007635,
307
+ 0.1491247583180666
308
+ ],
309
+ "orientation": {
310
+ "w": 0.3358110089211569,
311
+ "xyz": [
312
+ 0.6159142736190639,
313
+ 0.6170497273774534,
314
+ 0.35655323274802314
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "remote control body",
322
+ "mask_color": "Green",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "grasp the exposed front face and sides of the remote to pull it out of the holder",
327
+ "confidence": 0.9
328
+ },
329
+ {
330
+ "scenario": "hold the remote body to reposition or operate the remote after removal",
331
+ "confidence": 0.87
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "handheld control device",
336
+ "store inside holder",
337
+ "provide main area for user handling",
338
+ "house buttons and electronics"
339
+ ],
340
+ "semantic_description": "Slim light gray remote control body visible inside the holder, with a smooth plastic front, black button pad, and MUU logo near the lower front.",
341
+ "id": 1,
342
+ "grasp_group": {}
343
+ },
344
+ {
345
+ "part_name": "lower front support lip",
346
+ "mask_color": "Blue",
347
+ "graspable": false,
348
+ "grasp_scenarios": [],
349
+ "functional_labels": [
350
+ "support the bottom of the remote",
351
+ "help retain the remote in the holder",
352
+ "form the lower boundary of the front opening"
353
+ ],
354
+ "semantic_description": "Small lower front interior ledge at the base of the opening, visible as a short white support surface inside the holder that catches the bottom end of the remote.",
355
+ "id": 2,
356
+ "grasp_group": {}
357
+ },
358
+ {
359
+ "part_name": "remote top/head",
360
+ "mask_color": "Yellow",
361
+ "graspable": true,
362
+ "grasp_scenarios": [
363
+ {
364
+ "scenario": "pinch the exposed top of the remote to begin lifting it from the holder",
365
+ "confidence": 0.62
366
+ }
367
+ ],
368
+ "functional_labels": [
369
+ "top end of the remote",
370
+ "provide accessible exposed area for removal",
371
+ "contain upper front control region"
372
+ ],
373
+ "semantic_description": "Rounded upper portion of the gray remote visible near the top opening, with a black circular control area on the front.",
374
+ "id": 3,
375
+ "grasp_group": {}
376
+ }
377
+ ],
378
+ "quality_check": {
379
+ "success": true,
380
+ "message": "YES"
381
+ }
382
+ }
dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b8d7f83de07465dbff09484e3fce359cb94c21f47b720b1bf9b5008efd86bff
3
+ size 3780932
dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.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>