Add asset bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/affordance_annot.json +350 -0
- dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/glasses_case_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -8081,4 +8081,4 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mes
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| 8081 |
dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8082 |
dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8084 |
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dataset/bedroom_supplies/storage/
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| 8081 |
dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8082 |
dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8083 |
dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8084 |
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dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid to open the glasses case",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the lid to stabilize the open case during placement",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"protect eyeglasses from above",
|
| 20 |
+
"open and close the case",
|
| 21 |
+
"provide top shell structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded rectangular top shell in white leather-like material with a matte smooth slightly padded surface, forming the upper half of the case and wrapping over the hinge side.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_26": {
|
| 27 |
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"confidence": 0.030670132488012314,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.1733251210156719,
|
| 35 |
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"xyz": [
|
| 36 |
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| 37 |
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|
| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_28": {
|
| 43 |
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"confidence": 0.11563372611999512,
|
| 44 |
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"position": [
|
| 45 |
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| 46 |
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|
| 47 |
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| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.06448126194406116,
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| 51 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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]
|
| 56 |
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}
|
| 57 |
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}
|
| 58 |
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}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "base",
|
| 62 |
+
"mask_color": "Blue",
|
| 63 |
+
"graspable": true,
|
| 64 |
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"grasp_scenarios": [
|
| 65 |
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{
|
| 66 |
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"scenario": "grasp the base to pick up the glasses case",
|
| 67 |
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"confidence": 0.93
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"scenario": "hold the base while opening or closing the lid",
|
| 71 |
+
"confidence": 0.9
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "grasp the base to reposition the case on a surface",
|
| 75 |
+
"confidence": 0.88
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"functional_labels": [
|
| 79 |
+
"support the case",
|
| 80 |
+
"hold the stored eyeglasses",
|
| 81 |
+
"provide main grasp surface",
|
| 82 |
+
"stabilize during opening"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "Large rounded rectangular bottom shell in white leather-like material with a matte smooth slightly padded finish, forming the lower half of the case and resting on flat surfaces.",
|
| 85 |
+
"id": 2,
|
| 86 |
+
"grasp_group": {
|
| 87 |
+
"grasp_0": {
|
| 88 |
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"confidence": 0.9569756984710693,
|
| 89 |
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"position": [
|
| 90 |
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0.028662397526204586,
|
| 91 |
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0.17135942810273264,
|
| 92 |
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-0.0138732073828578
|
| 93 |
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],
|
| 94 |
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"orientation": {
|
| 95 |
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"w": 0.44897823609235743,
|
| 96 |
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"xyz": [
|
| 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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}
|
| 102 |
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},
|
| 103 |
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"grasp_1": {
|
| 104 |
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"confidence": 0.9555928707122803,
|
| 105 |
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"position": [
|
| 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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"orientation": {
|
| 111 |
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"w": 0.22148670605703777,
|
| 112 |
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"xyz": [
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| 113 |
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| 114 |
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|
| 115 |
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|
| 116 |
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]
|
| 117 |
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}
|
| 118 |
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},
|
| 119 |
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"grasp_4": {
|
| 120 |
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"confidence": 0.9364546537399292,
|
| 121 |
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"position": [
|
| 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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"orientation": {
|
| 127 |
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|
| 128 |
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| 131 |
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| 132 |
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]
|
| 133 |
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}
|
| 134 |
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},
|
| 135 |
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"grasp_5": {
|
| 136 |
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"confidence": 0.931731104850769,
|
| 137 |
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"position": [
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| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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],
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| 142 |
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"orientation": {
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| 143 |
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"w": 0.7082215933636675,
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| 144 |
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| 147 |
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|
| 148 |
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]
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
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"grasp_6": {
|
| 152 |
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"confidence": 0.9213307499885559,
|
| 153 |
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"position": [
|
| 154 |
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| 157 |
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],
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| 166 |
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},
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| 167 |
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"grasp_7": {
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| 168 |
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"confidence": 0.9194812774658203,
|
| 169 |
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"position": [
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| 170 |
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"orientation": {
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| 180 |
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| 181 |
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| 182 |
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"grasp_8": {
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| 184 |
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"confidence": 0.9194745421409607,
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"orientation": {
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| 197 |
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|
| 198 |
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|
| 199 |
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"grasp_9": {
|
| 200 |
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"confidence": 0.9192392826080322,
|
| 201 |
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"position": [
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"orientation": {
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| 232 |
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| 246 |
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| 247 |
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|
| 248 |
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| 249 |
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| 250 |
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| 252 |
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| 253 |
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],
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| 254 |
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|
| 264 |
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|
| 265 |
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],
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}
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| 279 |
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}
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| 280 |
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},
|
| 281 |
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{
|
| 282 |
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"part_name": "upper lining",
|
| 283 |
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"mask_color": "Green",
|
| 284 |
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"graspable": false,
|
| 285 |
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"grasp_scenarios": [],
|
| 286 |
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"functional_labels": [
|
| 287 |
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"cushion the glasses",
|
| 288 |
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"protect lenses from scratches",
|
| 289 |
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"line the lid interior",
|
| 290 |
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"provide soft contact surface"
|
| 291 |
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],
|
| 292 |
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"semantic_description": "Soft beige interior lining with a matte smooth fabric-like texture covering the inside of the lid, recessed beneath the outer shell and sized to span most of the upper interior.",
|
| 293 |
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"id": 1,
|
| 294 |
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"grasp_group": {}
|
| 295 |
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},
|
| 296 |
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{
|
| 297 |
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"part_name": "lower insert pad",
|
| 298 |
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"mask_color": "Red",
|
| 299 |
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"graspable": false,
|
| 300 |
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"grasp_scenarios": [],
|
| 301 |
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"functional_labels": [
|
| 302 |
+
"cushion the glasses",
|
| 303 |
+
"protect frames from scratches",
|
| 304 |
+
"support stored eyewear",
|
| 305 |
+
"provide interior resting surface"
|
| 306 |
+
],
|
| 307 |
+
"semantic_description": "Rectangular beige inner pad with a matte smooth fabric-like surface, placed in the bottom interior and marked with a small brown printed logo or text.",
|
| 308 |
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"id": 0,
|
| 309 |
+
"grasp_group": {}
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
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"part_name": "rim trim",
|
| 313 |
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"mask_color": "Purple",
|
| 314 |
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"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
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"functional_labels": [
|
| 317 |
+
"finish the shell edge",
|
| 318 |
+
"reinforce the case opening",
|
| 319 |
+
"define the opening boundary",
|
| 320 |
+
"reduce edge wear"
|
| 321 |
+
],
|
| 322 |
+
"semantic_description": "Thin narrow edge band around the case perimeter, visually matching the white exterior with a smooth finished seam that outlines the lid and base edges.",
|
| 323 |
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"id": 5,
|
| 324 |
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"grasp_group": {}
|
| 325 |
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},
|
| 326 |
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{
|
| 327 |
+
"part_name": "front clasp tab",
|
| 328 |
+
"mask_color": "Orange",
|
| 329 |
+
"graspable": true,
|
| 330 |
+
"grasp_scenarios": [
|
| 331 |
+
{
|
| 332 |
+
"scenario": "pinch the small tab area to help pry open the case",
|
| 333 |
+
"confidence": 0.41
|
| 334 |
+
}
|
| 335 |
+
],
|
| 336 |
+
"functional_labels": [
|
| 337 |
+
"assist opening",
|
| 338 |
+
"define front closure point",
|
| 339 |
+
"indicate case orientation"
|
| 340 |
+
],
|
| 341 |
+
"semantic_description": "Small centered tab-like detail at the front lip, matching the light exterior tones with a smooth hard-looking finish and positioned where the lid meets the base.",
|
| 342 |
+
"id": 4,
|
| 343 |
+
"grasp_group": {}
|
| 344 |
+
}
|
| 345 |
+
],
|
| 346 |
+
"quality_check": {
|
| 347 |
+
"success": true,
|
| 348 |
+
"message": "YES"
|
| 349 |
+
}
|
| 350 |
+
}
|
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa6fe0abfa090fea94bb00e38808671993dd58d2bcce7c450e52d3df8ca6abeb
|
| 3 |
+
size 3789632
|
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/glasses_case_039.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>
|