Add asset bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/affordance_annot.json +382 -0
- dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/remote_holder_028.urdf +1 -0
.gitattributes
CHANGED
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@@ -6023,3 +6023,4 @@ dataset/bedroom_supplies/storage/4c087b34c5d25bf1a02d106cd5040490/affordance/mes
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| 6023 |
dataset/bedroom_supplies/storage/4c77224e5adb5c7e88fd8d96def0bb61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6024 |
dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6025 |
dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6023 |
dataset/bedroom_supplies/storage/4c77224e5adb5c7e88fd8d96def0bb61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6024 |
dataset/bedroom_supplies/storage/4d9b2d1a21375d33828241d92da1618d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6025 |
dataset/bedroom_supplies/storage/4e2839feedd050caaeaa45fc947092bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6026 |
+
dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/4e7f9c39f93856caac5f2472db1ba49d/affordance/affordance_annot.json
ADDED
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|
| 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 |
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|
| 34 |
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0.030933546368032694,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.5419656658328528,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.8252975344657898,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
|
| 54 |
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"w": 0.3158771666595811,
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| 55 |
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"xyz": [
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| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.8243036866188049,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.42032718918039425,
|
| 71 |
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"xyz": [
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
+
"confidence": 0.813130795955658,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.49469069107496166,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
+
"grasp_4": {
|
| 95 |
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"confidence": 0.8122512698173523,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4642064870134834,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.8046501874923706,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
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| 117 |
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"orientation": {
|
| 118 |
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"w": 0.4810231882524702,
|
| 119 |
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"xyz": [
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| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.8042500615119934,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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|
| 135 |
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"xyz": [
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_8": {
|
| 143 |
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"confidence": 0.8020286560058594,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.32895424182948774,
|
| 151 |
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"xyz": [
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| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_9": {
|
| 159 |
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"confidence": 0.8013516068458557,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.4602201899014536,
|
| 167 |
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"xyz": [
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|
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| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_10": {
|
| 175 |
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"confidence": 0.8002404570579529,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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| 183 |
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"xyz": [
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| 186 |
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|
| 187 |
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]
|
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}
|
| 189 |
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},
|
| 190 |
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"grasp_12": {
|
| 191 |
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"confidence": 0.7981926202774048,
|
| 192 |
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"position": [
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| 193 |
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],
|
| 197 |
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}
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}
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| 319 |
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},
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| 320 |
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{
|
| 321 |
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"part_name": "remote control body",
|
| 322 |
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"mask_color": "Green",
|
| 323 |
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"graspable": true,
|
| 324 |
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"grasp_scenarios": [
|
| 325 |
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{
|
| 326 |
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"scenario": "grasp the exposed front face and sides of the remote to pull it out of the holder",
|
| 327 |
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"confidence": 0.9
|
| 328 |
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},
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{
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| 330 |
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"scenario": "hold the remote body to reposition or operate the remote after removal",
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}
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],
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| 334 |
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|
| 335 |
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"handheld control device",
|
| 336 |
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"store inside holder",
|
| 337 |
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"provide main area for user handling",
|
| 338 |
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"house buttons and electronics"
|
| 339 |
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],
|
| 340 |
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"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 |
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"id": 1,
|
| 342 |
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|
| 343 |
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},
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| 344 |
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{
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| 345 |
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"part_name": "lower front support lip",
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| 346 |
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"mask_color": "Blue",
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| 347 |
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"graspable": false,
|
| 348 |
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"grasp_scenarios": [],
|
| 349 |
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"functional_labels": [
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| 350 |
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"support the bottom of the remote",
|
| 351 |
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"help retain the remote in the holder",
|
| 352 |
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"form the lower boundary of the front opening"
|
| 353 |
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],
|
| 354 |
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"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.",
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| 355 |
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"id": 2,
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| 356 |
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| 357 |
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},
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| 358 |
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{
|
| 359 |
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"part_name": "remote top/head",
|
| 360 |
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"mask_color": "Yellow",
|
| 361 |
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"graspable": true,
|
| 362 |
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"grasp_scenarios": [
|
| 363 |
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{
|
| 364 |
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"scenario": "pinch the exposed top of the remote to begin lifting it from the holder",
|
| 365 |
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"confidence": 0.62
|
| 366 |
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}
|
| 367 |
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],
|
| 368 |
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"functional_labels": [
|
| 369 |
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"top end of the remote",
|
| 370 |
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"provide accessible exposed area for removal",
|
| 371 |
+
"contain upper front control region"
|
| 372 |
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],
|
| 373 |
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"semantic_description": "Rounded upper portion of the gray remote visible near the top opening, with a black circular control area on the front.",
|
| 374 |
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"id": 3,
|
| 375 |
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"grasp_group": {}
|
| 376 |
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}
|
| 377 |
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],
|
| 378 |
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"quality_check": {
|
| 379 |
+
"success": true,
|
| 380 |
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"message": "YES"
|
| 381 |
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}
|
| 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>
|