Add asset bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/affordance/affordance_annot.json +698 -0
- dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/glasses_case_037.urdf +1 -0
.gitattributes
CHANGED
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@@ -8098,3 +8098,4 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mes
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| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8100 |
dataset/bedroom_supplies/storage/a2cb36d841de5add8482b4d3f6a8ef89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8100 |
dataset/bedroom_supplies/storage/a2cb36d841de5add8482b4d3f6a8ef89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8101 |
+
dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,698 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the glasses case",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"functional_labels": [
|
| 14 |
+
"cover the case",
|
| 15 |
+
"protect stored glasses",
|
| 16 |
+
"open and close around hinge",
|
| 17 |
+
"provide top structure"
|
| 18 |
+
],
|
| 19 |
+
"semantic_description": "Large black hard-shell lid with a matte smooth finish and rounded rectangular shape, forming the upper half of the case and showing small gold branding on the inner face.",
|
| 20 |
+
"id": 0,
|
| 21 |
+
"grasp_group": {
|
| 22 |
+
"grasp_0": {
|
| 23 |
+
"confidence": 0.9537197351455688,
|
| 24 |
+
"position": [
|
| 25 |
+
0.04391470132395625,
|
| 26 |
+
0.03629196518159006,
|
| 27 |
+
0.14471168769523501
|
| 28 |
+
],
|
| 29 |
+
"orientation": {
|
| 30 |
+
"w": 0.3193529460299273,
|
| 31 |
+
"xyz": [
|
| 32 |
+
0.0056300607503583745,
|
| 33 |
+
-0.9475773943712661,
|
| 34 |
+
0.008892691072765642
|
| 35 |
+
]
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"grasp_1": {
|
| 39 |
+
"confidence": 0.9413214921951294,
|
| 40 |
+
"position": [
|
| 41 |
+
0.017172669526189566,
|
| 42 |
+
0.03895229929185007,
|
| 43 |
+
0.1544122244231403
|
| 44 |
+
],
|
| 45 |
+
"orientation": {
|
| 46 |
+
"w": 0.041250276864344425,
|
| 47 |
+
"xyz": [
|
| 48 |
+
0.9831034053874618,
|
| 49 |
+
0.012919289999946848,
|
| 50 |
+
-0.1778741153740151
|
| 51 |
+
]
|
| 52 |
+
}
|
| 53 |
+
},
|
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},
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| 597 |
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{
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"part_name": "rim lining",
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| 599 |
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"mask_color": "Pink",
|
| 600 |
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"graspable": false,
|
| 601 |
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"grasp_scenarios": [],
|
| 602 |
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"functional_labels": [
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| 603 |
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"cushion the opening edge",
|
| 604 |
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"finish the seam between shell and interior",
|
| 605 |
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"reduce abrasion at contact edge"
|
| 606 |
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],
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| 607 |
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"semantic_description": "Thin pale trim running around the case opening, appearing as a narrow smooth edging between the hard shell and the dark interior lining.",
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| 608 |
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"id": 8,
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| 609 |
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| 610 |
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},
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| 611 |
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{
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| 612 |
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"part_name": "front clasp",
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| 613 |
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|
| 614 |
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"graspable": true,
|
| 615 |
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| 616 |
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{
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| 617 |
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"scenario": "pinch the clasp to unlatch and open the case",
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| 618 |
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"confidence": 0.94
|
| 619 |
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},
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| 620 |
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{
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| 621 |
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"scenario": "hold the clasp area to guide the case shut",
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}
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],
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| 625 |
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"functional_labels": [
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"latch the case closed",
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| 627 |
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"release the lid",
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| 628 |
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"align front closure"
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| 629 |
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],
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| 630 |
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"semantic_description": "Small gold-toned metal clasp centered on the front edge, with a glossy reflective finish, hard smooth feel, and compact protruding latch shape.",
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| 631 |
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"id": 7,
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| 632 |
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"grasp_group": {
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],
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]
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| 647 |
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}
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| 648 |
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}
|
| 649 |
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}
|
| 650 |
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},
|
| 651 |
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{
|
| 652 |
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"part_name": "hinge hardware",
|
| 653 |
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"mask_color": "Purple",
|
| 654 |
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"graspable": false,
|
| 655 |
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"grasp_scenarios": [],
|
| 656 |
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"functional_labels": [
|
| 657 |
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"connect lid to base",
|
| 658 |
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"enable rotation",
|
| 659 |
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"support repeated opening and closing"
|
| 660 |
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],
|
| 661 |
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"semantic_description": "Small gold-toned metal hinge pieces along the back edge with a glossy reflective finish, hard smooth surface, and compact jointed form.",
|
| 662 |
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"id": 5,
|
| 663 |
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"grasp_group": {}
|
| 664 |
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},
|
| 665 |
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{
|
| 666 |
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"part_name": "inner lid branding",
|
| 667 |
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"mask_color": "Cyan",
|
| 668 |
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"graspable": false,
|
| 669 |
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"grasp_scenarios": [],
|
| 670 |
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"functional_labels": [
|
| 671 |
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"brand marking",
|
| 672 |
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"decorate the lid interior",
|
| 673 |
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"identify product"
|
| 674 |
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],
|
| 675 |
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"semantic_description": "Small gold script branding on the inner lid, appearing as shiny metallic lettering with thin ornamental strokes.",
|
| 676 |
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"id": 6,
|
| 677 |
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"grasp_group": {}
|
| 678 |
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},
|
| 679 |
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{
|
| 680 |
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"part_name": "inner lid badge",
|
| 681 |
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"mask_color": "Orange",
|
| 682 |
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"graspable": false,
|
| 683 |
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"grasp_scenarios": [],
|
| 684 |
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"functional_labels": [
|
| 685 |
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"brand badge",
|
| 686 |
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"decorate the lid interior",
|
| 687 |
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"highlight product identity"
|
| 688 |
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],
|
| 689 |
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"semantic_description": "Small gold oval badge on the inner lid with a glossy reflective finish, thin raised border, and compact emblem-like shape.",
|
| 690 |
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"id": 4,
|
| 691 |
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"grasp_group": {}
|
| 692 |
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}
|
| 693 |
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],
|
| 694 |
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"quality_check": {
|
| 695 |
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"success": false,
|
| 696 |
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"message": "Orange part is not a physical inner lid badge; it marks printed oval branding, so part identity and description are incorrect."
|
| 697 |
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}
|
| 698 |
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}
|
dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:446e4323032d934523073d6a984ac1e627910b06a848047821f494b50803a82b
|
| 3 |
+
size 3790184
|
dataset/bedroom_supplies/storage/a2ee8bc66f245e7bbc06c4c900a7bcde/glasses_case_037.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>
|