Add asset livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c
Browse files- .gitattributes +1 -0
- dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/affordance/affordance_annot.json +358 -0
- dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/affordance/mesh_part_seg.glb +3 -0
- dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.urdf +1 -1
.gitattributes
CHANGED
|
@@ -7687,3 +7687,4 @@ dataset/livingroom_supplies/ornaments/45dedfc9089b50eb8352efeff5061982/affordanc
|
|
| 7687 |
dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7688 |
dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7689 |
dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7687 |
dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7688 |
dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7689 |
dataset/livingroom_supplies/ornaments/4144e5dd277458f9b52033c656af13da/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7690 |
+
dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,358 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "photo frame body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer frame edge to pick up and reposition the photo frame",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the frame body along opposite sides to stabilize it during placement on a surface",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp a side of the frame to rotate or orient it for display",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"enclose and protect the picture",
|
| 23 |
+
"provide the main structural body",
|
| 24 |
+
"support tabletop display",
|
| 25 |
+
"present the image decoratively",
|
| 26 |
+
"provide grasp surfaces for repositioning"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Thick square brown wooden frame body with visible wood grain, a mostly matte to satin hard smooth finish, beveled front edges, and a broad border surrounding the central picture and backing.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9719069004058838,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.006957004137802869,
|
| 35 |
+
0.23276294727111235,
|
| 36 |
+
-0.0008901332621462643
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5025822844442461,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5022417199231022,
|
| 42 |
+
-0.4878627326968824,
|
| 43 |
+
0.507103792311808
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.97157222032547,
|
| 49 |
+
"position": [
|
| 50 |
+
0.22406944556860253,
|
| 51 |
+
0.04534901265287772,
|
| 52 |
+
0.0009453296079300344
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.044631870037737345,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.701774500460217,
|
| 58 |
+
0.03802842948418317,
|
| 59 |
+
-0.7099819612016306
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.970945417881012,
|
| 65 |
+
"position": [
|
| 66 |
+
0.006064084998797625,
|
| 67 |
+
0.22814920503878966,
|
| 68 |
+
-0.0008368936250917614
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5101465624059227,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.501684984617687,
|
| 74 |
+
0.4994679252689863,
|
| 75 |
+
-0.48846131136668897
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9709222316741943,
|
| 81 |
+
"position": [
|
| 82 |
+
0.22104518039850518,
|
| 83 |
+
0.05627891008043662,
|
| 84 |
+
-0.0023636590340174735
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.03638139006629474,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.697254074116559,
|
| 90 |
+
0.03447494654100203,
|
| 91 |
+
-0.7150696669875592
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9705095291137695,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.21708570496411994,
|
| 99 |
+
0.015102339501027018,
|
| 100 |
+
0.004661760001908988
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.016325300176520296,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.7080152289732612,
|
| 106 |
+
0.007446180493390964,
|
| 107 |
+
0.7059691739106936
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9703916907310486,
|
| 113 |
+
"position": [
|
| 114 |
+
0.004863203677814454,
|
| 115 |
+
0.2281735535361804,
|
| 116 |
+
0.0015277891070581973
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.4661649958310546,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.5183247306738838,
|
| 122 |
+
-0.4727097647689299,
|
| 123 |
+
0.5390502282030702
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_6": {
|
| 128 |
+
"confidence": 0.9698941707611084,
|
| 129 |
+
"position": [
|
| 130 |
+
0.2210393391433172,
|
| 131 |
+
-0.05180440511321649,
|
| 132 |
+
0.0010456820018589497
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.10844422488722079,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.709776760304646,
|
| 138 |
+
0.0954786130130314,
|
| 139 |
+
-0.6894495159742724
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_7": {
|
| 144 |
+
"confidence": 0.9698763489723206,
|
| 145 |
+
"position": [
|
| 146 |
+
-4.994700429961085e-05,
|
| 147 |
+
0.2277693595387973,
|
| 148 |
+
0.006246115721296519
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.4849087155995501,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.5130794902613938,
|
| 154 |
+
-0.4929028052029544,
|
| 155 |
+
0.5085860780947133
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_8": {
|
| 160 |
+
"confidence": 0.9694749712944031,
|
| 161 |
+
"position": [
|
| 162 |
+
0.22075241728452966,
|
| 163 |
+
0.11618962843203917,
|
| 164 |
+
0.008287158969324082
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.09859392021935304,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.7130948734009267,
|
| 170 |
+
0.08854913073164694,
|
| 171 |
+
-0.688428639636503
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_9": {
|
| 176 |
+
"confidence": 0.969404399394989,
|
| 177 |
+
"position": [
|
| 178 |
+
0.22174468560842797,
|
| 179 |
+
-0.07925233285641298,
|
| 180 |
+
0.008436112839262933
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.03362481751672557,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.7192597515681108,
|
| 186 |
+
0.03513663237241371,
|
| 187 |
+
-0.6930369387606062
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_10": {
|
| 192 |
+
"confidence": 0.9689443111419678,
|
| 193 |
+
"position": [
|
| 194 |
+
0.012249310675542802,
|
| 195 |
+
0.23376639146590605,
|
| 196 |
+
-0.0038433776353485882
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5151868034836785,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.48879672276382097,
|
| 202 |
+
0.49917111164977823,
|
| 203 |
+
-0.4964761047884811
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_11": {
|
| 208 |
+
"confidence": 0.9683772921562195,
|
| 209 |
+
"position": [
|
| 210 |
+
0.016454498458188027,
|
| 211 |
+
0.23099097568774596,
|
| 212 |
+
0.00030554055047105066
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.5065825002921649,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.49595358666793576,
|
| 218 |
+
0.5006850966183893,
|
| 219 |
+
-0.49670780575020496
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_12": {
|
| 224 |
+
"confidence": 0.9682217240333557,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.21471567527623847,
|
| 227 |
+
0.030252197349909693,
|
| 228 |
+
0.006221292715054005
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.043677569601821384,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.709302034962904,
|
| 234 |
+
-0.013917549203196211,
|
| 235 |
+
0.7034125353839935
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_13": {
|
| 240 |
+
"confidence": 0.9681797027587891,
|
| 241 |
+
"position": [
|
| 242 |
+
0.0012279293732717633,
|
| 243 |
+
0.23365659971022978,
|
| 244 |
+
0.0043900973978452384
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.49453999821293315,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.4927480367420242,
|
| 250 |
+
0.5145578780058235,
|
| 251 |
+
-0.4978551522647697
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_14": {
|
| 256 |
+
"confidence": 0.9679437279701233,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.21323753969045356,
|
| 259 |
+
0.04083722789073363,
|
| 260 |
+
0.0036692912108264863
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.7059559151408022,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.0052935593831212975,
|
| 266 |
+
0.7082326858379151,
|
| 267 |
+
-0.002164905906244558
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_15": {
|
| 272 |
+
"confidence": 0.9678905010223389,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.21502964274259284,
|
| 275 |
+
0.05626352463150397,
|
| 276 |
+
0.007390618033241481
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.6985268504314912,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.008275748290642447,
|
| 282 |
+
0.7154258784365051,
|
| 283 |
+
-0.012552437207422109
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_16": {
|
| 288 |
+
"confidence": 0.9676885008811951,
|
| 289 |
+
"position": [
|
| 290 |
+
0.22271113021997735,
|
| 291 |
+
-0.02065789554035291,
|
| 292 |
+
0.0025375130935572088
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.06425477123365259,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.7104987804404567,
|
| 298 |
+
0.05583206849309874,
|
| 299 |
+
-0.6985310211394454
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_17": {
|
| 304 |
+
"confidence": 0.967584490776062,
|
| 305 |
+
"position": [
|
| 306 |
+
0.02842849789885804,
|
| 307 |
+
0.2302242960431613,
|
| 308 |
+
0.0038657960831187665
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.497512638979419,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.49105033753939087,
|
| 314 |
+
-0.5039921371998354,
|
| 315 |
+
0.5072895284735598
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"grasp_18": {
|
| 320 |
+
"confidence": 0.9675340056419373,
|
| 321 |
+
"position": [
|
| 322 |
+
-0.21527782158227637,
|
| 323 |
+
0.02354134392226115,
|
| 324 |
+
0.007089102349709719
|
| 325 |
+
],
|
| 326 |
+
"orientation": {
|
| 327 |
+
"w": 0.02087318079503779,
|
| 328 |
+
"xyz": [
|
| 329 |
+
0.7120368246772322,
|
| 330 |
+
0.015051373084614794,
|
| 331 |
+
0.7016703832964094
|
| 332 |
+
]
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
"grasp_19": {
|
| 336 |
+
"confidence": 0.9672231078147888,
|
| 337 |
+
"position": [
|
| 338 |
+
-0.21891801134916022,
|
| 339 |
+
0.03405547473812476,
|
| 340 |
+
0.005301750905346125
|
| 341 |
+
],
|
| 342 |
+
"orientation": {
|
| 343 |
+
"w": 0.6988903040071849,
|
| 344 |
+
"xyz": [
|
| 345 |
+
0.0003470657470843619,
|
| 346 |
+
0.7152273199248264,
|
| 347 |
+
-0.0014502907507742617
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"quality_check": {
|
| 355 |
+
"success": true,
|
| 356 |
+
"message": "YES"
|
| 357 |
+
}
|
| 358 |
+
}
|
dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:99f3baa626fa100e9d3c38d020d9299b6e80e4f6ac5ccb139ef3141780dc57c8
|
| 3 |
+
size 37286856
|
dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.urdf
CHANGED
|
@@ -61,7 +61,7 @@
|
|
| 61 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
-
<PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|
|
|
|
| 61 |
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|