xinjjj commited on
Commit
8e41be2
·
verified ·
1 Parent(s): aba902d

Add asset bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2

Browse files
.gitattributes CHANGED
@@ -6010,3 +6010,4 @@ dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mes
6010
  dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6011
  dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6012
  dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6010
  dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6011
  dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6012
  dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6013
+ dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,646 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "lid",
5
+ "mask_color": "Purple",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the lid edge to open the case",
10
+ "confidence": 0.93
11
+ },
12
+ {
13
+ "scenario": "hold the lid to stabilize the case while accessing the interior",
14
+ "confidence": 0.72
15
+ },
16
+ {
17
+ "scenario": "grasp the closed lid surface to reposition the case",
18
+ "confidence": 0.66
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the case",
23
+ "protect contents",
24
+ "provide opening surface",
25
+ "enclose the organizer"
26
+ ],
27
+ "semantic_description": "A rounded rectangular gray hard-shell lid with a smooth matte to low-sheen exterior, forming the upper half of the clamshell case.",
28
+ "id": 5,
29
+ "grasp_group": {
30
+ "grasp_20": {
31
+ "confidence": 0.9787998199462891,
32
+ "position": [
33
+ -0.04579179130905686,
34
+ 0.0270483260974288,
35
+ 0.14434966712724417
36
+ ],
37
+ "orientation": {
38
+ "w": 0.05996366901574285,
39
+ "xyz": [
40
+ 0.005113624905370971,
41
+ 0.9981287665892346,
42
+ -0.010824719190420964
43
+ ]
44
+ }
45
+ },
46
+ "grasp_21": {
47
+ "confidence": 0.9780192375183105,
48
+ "position": [
49
+ -0.05628834806793748,
50
+ 0.06007674057036638,
51
+ 0.13778646558057517
52
+ ],
53
+ "orientation": {
54
+ "w": 0.11689987944480382,
55
+ "xyz": [
56
+ 0.04971462101388279,
57
+ 0.9693445025763033,
58
+ -0.210319067058447
59
+ ]
60
+ }
61
+ },
62
+ "grasp_22": {
63
+ "confidence": 0.9776651859283447,
64
+ "position": [
65
+ -0.042772193927703483,
66
+ 0.032489205710589886,
67
+ 0.1402544107986614
68
+ ],
69
+ "orientation": {
70
+ "w": 0.054188236448271226,
71
+ "xyz": [
72
+ 0.019379436443411936,
73
+ 0.9983206573692776,
74
+ -0.006628540075743366
75
+ ]
76
+ }
77
+ },
78
+ "grasp_23": {
79
+ "confidence": 0.9771844744682312,
80
+ "position": [
81
+ -0.05534561865442811,
82
+ 0.06396205071359873,
83
+ 0.13534029095899314
84
+ ],
85
+ "orientation": {
86
+ "w": 0.1097140439987066,
87
+ "xyz": [
88
+ 0.0494131847676679,
89
+ 0.9622441258839829,
90
+ -0.2441462838593626
91
+ ]
92
+ }
93
+ },
94
+ "grasp_24": {
95
+ "confidence": 0.9768069386482239,
96
+ "position": [
97
+ -0.03296045355909882,
98
+ 0.10256193671375513,
99
+ 0.12282836704980582
100
+ ],
101
+ "orientation": {
102
+ "w": 0.04894048412702004,
103
+ "xyz": [
104
+ 0.08983438784372968,
105
+ 0.941812959652107,
106
+ -0.3201920686174059
107
+ ]
108
+ }
109
+ },
110
+ "grasp_25": {
111
+ "confidence": 0.9766380786895752,
112
+ "position": [
113
+ -0.039718323875604256,
114
+ 0.03396571893244982,
115
+ 0.14022293954622
116
+ ],
117
+ "orientation": {
118
+ "w": 0.04806651717305046,
119
+ "xyz": [
120
+ 0.024197732486689764,
121
+ 0.9985010355822842,
122
+ 0.00998807341087654
123
+ ]
124
+ }
125
+ },
126
+ "grasp_26": {
127
+ "confidence": 0.9762991070747375,
128
+ "position": [
129
+ -0.05556776889079629,
130
+ 0.02112573105841875,
131
+ 0.1407192078186199
132
+ ],
133
+ "orientation": {
134
+ "w": 0.10644386188453182,
135
+ "xyz": [
136
+ 0.014806987909705008,
137
+ 0.9942072956058791,
138
+ 0.0015201119015131742
139
+ ]
140
+ }
141
+ },
142
+ "grasp_27": {
143
+ "confidence": 0.9762392640113831,
144
+ "position": [
145
+ -0.054255807329354866,
146
+ 0.032637705095112324,
147
+ 0.13984549313317984
148
+ ],
149
+ "orientation": {
150
+ "w": 0.09743580872103255,
151
+ "xyz": [
152
+ 0.013590974653943742,
153
+ 0.9950308656105736,
154
+ -0.01533378847858653
155
+ ]
156
+ }
157
+ },
158
+ "grasp_29": {
159
+ "confidence": 0.9754278063774109,
160
+ "position": [
161
+ -0.05076570205801545,
162
+ 0.01464694831520319,
163
+ 0.13781319826375693
164
+ ],
165
+ "orientation": {
166
+ "w": 0.08572316633658404,
167
+ "xyz": [
168
+ 0.014685581211053922,
169
+ 0.9962105750533182,
170
+ 0.0006021707908341273
171
+ ]
172
+ }
173
+ },
174
+ "grasp_30": {
175
+ "confidence": 0.9754250049591064,
176
+ "position": [
177
+ -0.05681294717305718,
178
+ 0.03670170623809099,
179
+ 0.13921745389234275
180
+ ],
181
+ "orientation": {
182
+ "w": 0.1107421242142196,
183
+ "xyz": [
184
+ 0.0178727356760286,
185
+ 0.9931377754609073,
186
+ -0.03307727613540195
187
+ ]
188
+ }
189
+ },
190
+ "grasp_31": {
191
+ "confidence": 0.9752992391586304,
192
+ "position": [
193
+ -0.04217801012509881,
194
+ 0.010470068082213402,
195
+ 0.1454029408050701
196
+ ],
197
+ "orientation": {
198
+ "w": 0.044947217391569365,
199
+ "xyz": [
200
+ 0.00742668409955583,
201
+ 0.9989084882278357,
202
+ -0.010316208529295497
203
+ ]
204
+ }
205
+ },
206
+ "grasp_32": {
207
+ "confidence": 0.9751615524291992,
208
+ "position": [
209
+ -0.055624695051847084,
210
+ 0.02931986842304468,
211
+ 0.14365960925351828
212
+ ],
213
+ "orientation": {
214
+ "w": 0.1012718423179712,
215
+ "xyz": [
216
+ 0.008617477442234636,
217
+ 0.9944379945824223,
218
+ -0.02761934045097332
219
+ ]
220
+ }
221
+ },
222
+ "grasp_33": {
223
+ "confidence": 0.9747191071510315,
224
+ "position": [
225
+ -0.05704110257738648,
226
+ 0.01305857952684164,
227
+ 0.14044229954015464
228
+ ],
229
+ "orientation": {
230
+ "w": 0.10985278883723658,
231
+ "xyz": [
232
+ 0.016466288805356846,
233
+ 0.9936277123027857,
234
+ 0.01911008795355702
235
+ ]
236
+ }
237
+ },
238
+ "grasp_34": {
239
+ "confidence": 0.9746169447898865,
240
+ "position": [
241
+ -0.04892679445856629,
242
+ 0.032632757909595966,
243
+ 0.14362098544370383
244
+ ],
245
+ "orientation": {
246
+ "w": 0.07181245891089892,
247
+ "xyz": [
248
+ 0.01632950445116103,
249
+ 0.9972615380639454,
250
+ 0.0067633370376021
251
+ ]
252
+ }
253
+ },
254
+ "grasp_36": {
255
+ "confidence": 0.9742175340652466,
256
+ "position": [
257
+ -0.05226031832808076,
258
+ 0.013349308632314205,
259
+ 0.13659139245282859
260
+ ],
261
+ "orientation": {
262
+ "w": 0.09700642070050265,
263
+ "xyz": [
264
+ 0.008021040389145875,
265
+ 0.9949517297343629,
266
+ -0.02442279166172386
267
+ ]
268
+ }
269
+ },
270
+ "grasp_37": {
271
+ "confidence": 0.9741403460502625,
272
+ "position": [
273
+ -0.046877288747964485,
274
+ 0.027491427026689053,
275
+ 0.13742882281076163
276
+ ],
277
+ "orientation": {
278
+ "w": 0.08468493773293659,
279
+ "xyz": [
280
+ 0.016040995944774605,
281
+ 0.9925668699906347,
282
+ -0.08591947606487516
283
+ ]
284
+ }
285
+ },
286
+ "grasp_38": {
287
+ "confidence": 0.9741302728652954,
288
+ "position": [
289
+ -0.05271415181869088,
290
+ 0.0261658588424325,
291
+ 0.13699835806619376
292
+ ],
293
+ "orientation": {
294
+ "w": 0.09247715626268484,
295
+ "xyz": [
296
+ 0.015257871143049839,
297
+ 0.9955790648129292,
298
+ 0.006123613635996602
299
+ ]
300
+ }
301
+ },
302
+ "grasp_39": {
303
+ "confidence": 0.9741195440292358,
304
+ "position": [
305
+ -0.05909993268960534,
306
+ 0.024423724971711636,
307
+ 0.13887547224294394
308
+ ],
309
+ "orientation": {
310
+ "w": 0.12021939957619862,
311
+ "xyz": [
312
+ 0.01772322899841787,
313
+ 0.9925638704212479,
314
+ -0.007081401965707876
315
+ ]
316
+ }
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "part_name": "base compartment",
322
+ "mask_color": "Yellow",
323
+ "graspable": true,
324
+ "grasp_scenarios": [
325
+ {
326
+ "scenario": "grasp the base from the sides to lift the case",
327
+ "confidence": 0.95
328
+ },
329
+ {
330
+ "scenario": "hold the base steady while the lid is opened or closed",
331
+ "confidence": 0.91
332
+ },
333
+ {
334
+ "scenario": "grasp the base to reposition the case on a surface",
335
+ "confidence": 0.88
336
+ }
337
+ ],
338
+ "functional_labels": [
339
+ "contain stored items",
340
+ "support the case",
341
+ "provide main grasp surface",
342
+ "stabilize during opening"
343
+ ],
344
+ "semantic_description": "A larger rounded rectangular gray hard-shell lower compartment with a smooth matte exterior and a recessed interior, positioned as the bottom half of the case.",
345
+ "id": 3,
346
+ "grasp_group": {
347
+ "grasp_0": {
348
+ "confidence": 0.9713715314865112,
349
+ "position": [
350
+ 0.04497070468551101,
351
+ -0.14092650916427374,
352
+ -0.026622233097441494
353
+ ],
354
+ "orientation": {
355
+ "w": 0.4903993392235566,
356
+ "xyz": [
357
+ -0.4842782851098482,
358
+ 0.4936787274278974,
359
+ 0.5303436100730683
360
+ ]
361
+ }
362
+ },
363
+ "grasp_1": {
364
+ "confidence": 0.9706059098243713,
365
+ "position": [
366
+ 0.15194238580352248,
367
+ 0.012028778903186321,
368
+ 0.015192906255833805
369
+ ],
370
+ "orientation": {
371
+ "w": 0.10526617261002588,
372
+ "xyz": [
373
+ 0.8111292656068209,
374
+ 0.07583575393613728,
375
+ -0.5702957879952416
376
+ ]
377
+ }
378
+ },
379
+ "grasp_2": {
380
+ "confidence": 0.9705828428268433,
381
+ "position": [
382
+ 0.15657828606254043,
383
+ 0.031705901958048344,
384
+ -0.0032869601855054498
385
+ ],
386
+ "orientation": {
387
+ "w": 0.05761991036921765,
388
+ "xyz": [
389
+ 0.7648349214616346,
390
+ 0.026504505791102306,
391
+ -0.6410967165838458
392
+ ]
393
+ }
394
+ },
395
+ "grasp_3": {
396
+ "confidence": 0.969822883605957,
397
+ "position": [
398
+ 0.04483904920107307,
399
+ -0.1396003207191825,
400
+ -0.017707147751934826
401
+ ],
402
+ "orientation": {
403
+ "w": 0.4998511722957763,
404
+ "xyz": [
405
+ -0.5427020839522272,
406
+ 0.46530921696174343,
407
+ 0.48898935186657916
408
+ ]
409
+ }
410
+ },
411
+ "grasp_5": {
412
+ "confidence": 0.9686775207519531,
413
+ "position": [
414
+ 0.1576363132107872,
415
+ 0.006516232620924711,
416
+ -0.008915390935726464
417
+ ],
418
+ "orientation": {
419
+ "w": 0.057394010206835794,
420
+ "xyz": [
421
+ 0.7463912282547676,
422
+ 0.010055868091368936,
423
+ -0.6629516886573605
424
+ ]
425
+ }
426
+ },
427
+ "grasp_6": {
428
+ "confidence": 0.9685849547386169,
429
+ "position": [
430
+ 0.03936830021029891,
431
+ -0.14291489031165838,
432
+ -0.02368277416098863
433
+ ],
434
+ "orientation": {
435
+ "w": 0.4741826055223758,
436
+ "xyz": [
437
+ -0.4619353288697343,
438
+ -0.5268849968246492,
439
+ -0.5330654825470418
440
+ ]
441
+ }
442
+ },
443
+ "grasp_7": {
444
+ "confidence": 0.9678841233253479,
445
+ "position": [
446
+ 0.15518683053142013,
447
+ 0.04784119222313166,
448
+ -0.003007169463671744
449
+ ],
450
+ "orientation": {
451
+ "w": 0.10347676809578163,
452
+ "xyz": [
453
+ 0.764425738396255,
454
+ 0.07733861241390505,
455
+ -0.6316364365453307
456
+ ]
457
+ }
458
+ },
459
+ "grasp_8": {
460
+ "confidence": 0.9676909446716309,
461
+ "position": [
462
+ 0.15132929242736282,
463
+ 0.028876290656626225,
464
+ 0.020128876785747707
465
+ ],
466
+ "orientation": {
467
+ "w": 0.038439053198367545,
468
+ "xyz": [
469
+ 0.8251130690703167,
470
+ -0.002659471852771711,
471
+ -0.5636521885418707
472
+ ]
473
+ }
474
+ },
475
+ "grasp_9": {
476
+ "confidence": 0.9675163626670837,
477
+ "position": [
478
+ 0.15154227472430648,
479
+ 0.041062952019274235,
480
+ 0.00032765790820121765
481
+ ],
482
+ "orientation": {
483
+ "w": 0.12569360233087948,
484
+ "xyz": [
485
+ 0.7668727023169718,
486
+ 0.0857080145940865,
487
+ -0.6235074281903078
488
+ ]
489
+ }
490
+ },
491
+ "grasp_11": {
492
+ "confidence": 0.9672548770904541,
493
+ "position": [
494
+ 0.02536906905061187,
495
+ -0.14459195639938116,
496
+ -0.0167219276772812
497
+ ],
498
+ "orientation": {
499
+ "w": 0.4639055852202371,
500
+ "xyz": [
501
+ -0.47712939406000815,
502
+ -0.527800198619259,
503
+ -0.527793614647685
504
+ ]
505
+ }
506
+ },
507
+ "grasp_12": {
508
+ "confidence": 0.9665606617927551,
509
+ "position": [
510
+ 0.14480031884795608,
511
+ 0.04673410672694445,
512
+ -0.011946964194066823
513
+ ],
514
+ "orientation": {
515
+ "w": 0.2041307389809393,
516
+ "xyz": [
517
+ 0.7236660073333521,
518
+ 0.1657522714009455,
519
+ -0.6380943000519028
520
+ ]
521
+ }
522
+ },
523
+ "grasp_13": {
524
+ "confidence": 0.9659444093704224,
525
+ "position": [
526
+ 0.1512637273181099,
527
+ 0.04290614742785692,
528
+ -0.008242111769504845
529
+ ],
530
+ "orientation": {
531
+ "w": 0.649362668136933,
532
+ "xyz": [
533
+ 0.09328663172072087,
534
+ -0.7436389694227309,
535
+ 0.1289449988490607
536
+ ]
537
+ }
538
+ },
539
+ "grasp_14": {
540
+ "confidence": 0.9654854536056519,
541
+ "position": [
542
+ 0.14388726509696426,
543
+ 0.05813331622630358,
544
+ -0.012733467039652169
545
+ ],
546
+ "orientation": {
547
+ "w": 0.20776262785330554,
548
+ "xyz": [
549
+ 0.7242119218824189,
550
+ 0.1659948535474277,
551
+ -0.636236977286475
552
+ ]
553
+ }
554
+ },
555
+ "grasp_15": {
556
+ "confidence": 0.9648875594139099,
557
+ "position": [
558
+ 0.15264077342635574,
559
+ 0.06286622676998377,
560
+ -0.005845363833941519
561
+ ],
562
+ "orientation": {
563
+ "w": 0.12385175906927456,
564
+ "xyz": [
565
+ 0.7518622518830382,
566
+ 0.10365750540964369,
567
+ -0.6392331480305629
568
+ ]
569
+ }
570
+ },
571
+ "grasp_16": {
572
+ "confidence": 0.9646887183189392,
573
+ "position": [
574
+ 0.13978756822234573,
575
+ 0.09200231824070215,
576
+ -0.020449428935535252
577
+ ],
578
+ "orientation": {
579
+ "w": 0.20175670330234988,
580
+ "xyz": [
581
+ 0.6846248570228872,
582
+ 0.19397876139681558,
583
+ -0.6730195227078604
584
+ ]
585
+ }
586
+ },
587
+ "grasp_17": {
588
+ "confidence": 0.9645599126815796,
589
+ "position": [
590
+ 0.15733675516730727,
591
+ 0.026103061623871326,
592
+ -0.0007224829168990254
593
+ ],
594
+ "orientation": {
595
+ "w": 0.6377218489180814,
596
+ "xyz": [
597
+ 0.030243002102797296,
598
+ -0.769145063909563,
599
+ 0.02849692790229389
600
+ ]
601
+ }
602
+ },
603
+ "grasp_18": {
604
+ "confidence": 0.9638592600822449,
605
+ "position": [
606
+ 0.03690738461500587,
607
+ -0.13500434067100286,
608
+ -0.01265354745555669
609
+ ],
610
+ "orientation": {
611
+ "w": 0.42946715191121054,
612
+ "xyz": [
613
+ -0.4739726716704097,
614
+ -0.5412779007684774,
615
+ -0.545826076766728
616
+ ]
617
+ }
618
+ }
619
+ }
620
+ },
621
+ {
622
+ "part_name": "interior zipper pocket",
623
+ "mask_color": "Pink",
624
+ "graspable": false,
625
+ "grasp_scenarios": [
626
+ {
627
+ "scenario": "pinch the zipper slider area at the pocket edge to open or close the pocket",
628
+ "confidence": 0.58
629
+ }
630
+ ],
631
+ "functional_labels": [
632
+ "store small items",
633
+ "secure loose contents",
634
+ "organize accessories",
635
+ "provide a closable inner pocket"
636
+ ],
637
+ "semantic_description": "A slim light-gray fabric zipper pocket panel attached to the inside of the lid, with a visible zipper track running along one edge.",
638
+ "id": 8,
639
+ "grasp_group": {}
640
+ }
641
+ ],
642
+ "quality_check": {
643
+ "success": true,
644
+ "message": "YES"
645
+ }
646
+ }
dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:013873c42c55dd96cc1a4c65d7c0b6feae0e37f122da30c132abff0e45732591
3
+ size 3780536
dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.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>NO: {"summary":"Looks like a hinged case, not a pill organizer; mask misses internal organizer structure.","merge_groups":[{"colors":["Purple","Pink"],"target_part":"lid/interior pocket area","reason":"Pink is a small region on the same lid surface"}]}</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>NO: {"summary":"Looks like a hinged case, not a pill organizer; mask misses internal organizer structure.","merge_groups":[{"colors":["Purple","Pink"],"target_part":"lid/interior pocket area","reason":"Pink is a small region on the same lid surface"}]}</PartSegChecker>