Add asset bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/affordance_annot.json +646 -0
- dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/pill_organizer_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -6010,3 +6010,4 @@ dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/affordance/mes
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| 6010 |
dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6011 |
dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6012 |
dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6010 |
dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6011 |
dataset/bedroom_supplies/storage/3ebf2cdd5df652c5a48442d796fd3f6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6012 |
dataset/bedroom_supplies/storage/402dcb4d658f519db30935136a8b5b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6013 |
+
dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/4175c89b77e95338a6c1a55cbe12dcb2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,646 @@
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|
| 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 |
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}
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| 620 |
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},
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| 621 |
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{
|
| 622 |
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"part_name": "interior zipper pocket",
|
| 623 |
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"mask_color": "Pink",
|
| 624 |
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"graspable": false,
|
| 625 |
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"grasp_scenarios": [
|
| 626 |
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{
|
| 627 |
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"scenario": "pinch the zipper slider area at the pocket edge to open or close the pocket",
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| 628 |
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| 629 |
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],
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| 631 |
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| 632 |
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| 633 |
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"secure loose contents",
|
| 634 |
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"organize accessories",
|
| 635 |
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"provide a closable inner pocket"
|
| 636 |
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],
|
| 637 |
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"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 |
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"id": 8,
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| 639 |
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| 640 |
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}
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],
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| 642 |
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"quality_check": {
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| 643 |
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"success": true,
|
| 644 |
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"message": "YES"
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| 645 |
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}
|
| 646 |
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}
|
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>
|