xinjjj commited on
Commit
8fb7f0e
·
verified ·
1 Parent(s): 56a17e8

Add asset bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1

Browse files
.gitattributes CHANGED
@@ -8081,4 +8081,4 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mes
8081
  dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8082
  dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8083
  dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8084
- dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
8081
  dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8082
  dataset/bedroom_supplies/storage/8c40580f986e5f3fb773d62012a8957c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8083
  dataset/bedroom_supplies/storage/8dba7c0e15515c84a4a30e84ee1c57b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8084
+ dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,350 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "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
+ "confidence": 0.030670132488012314,
28
+ "position": [
29
+ -0.1063958527520299,
30
+ -0.03476141310238745,
31
+ 0.06207725312560797
32
+ ],
33
+ "orientation": {
34
+ "w": 0.1733251210156719,
35
+ "xyz": [
36
+ -0.8195457075244745,
37
+ -0.15348688485465178,
38
+ -0.524161246069114
39
+ ]
40
+ }
41
+ },
42
+ "grasp_28": {
43
+ "confidence": 0.11563372611999512,
44
+ "position": [
45
+ -0.11276762653142214,
46
+ -0.06665974772477057,
47
+ 0.06871590297669172
48
+ ],
49
+ "orientation": {
50
+ "w": 0.06448126194406116,
51
+ "xyz": [
52
+ -0.8440797613486423,
53
+ -0.08643509511842917,
54
+ -0.5252623132032116
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "base",
62
+ "mask_color": "Blue",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the base to pick up the glasses case",
67
+ "confidence": 0.93
68
+ },
69
+ {
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
+ "confidence": 0.9569756984710693,
89
+ "position": [
90
+ 0.028662397526204586,
91
+ 0.17135942810273264,
92
+ -0.0138732073828578
93
+ ],
94
+ "orientation": {
95
+ "w": 0.44897823609235743,
96
+ "xyz": [
97
+ 0.4943413478938986,
98
+ 0.511398604230743,
99
+ -0.5408480774382828
100
+ ]
101
+ }
102
+ },
103
+ "grasp_1": {
104
+ "confidence": 0.9555928707122803,
105
+ "position": [
106
+ 0.11617039423435926,
107
+ 0.12562791341042612,
108
+ -0.03194029349833727
109
+ ],
110
+ "orientation": {
111
+ "w": 0.22148670605703777,
112
+ "xyz": [
113
+ 0.621288565691017,
114
+ 0.19558346183803788,
115
+ -0.7257349837489236
116
+ ]
117
+ }
118
+ },
119
+ "grasp_4": {
120
+ "confidence": 0.9364546537399292,
121
+ "position": [
122
+ 0.01696858089417219,
123
+ -0.17213747567438986,
124
+ -0.008064293302595615
125
+ ],
126
+ "orientation": {
127
+ "w": 0.42172770103800755,
128
+ "xyz": [
129
+ -0.45798542145981763,
130
+ 0.5678917217713747,
131
+ 0.538418138857722
132
+ ]
133
+ }
134
+ },
135
+ "grasp_5": {
136
+ "confidence": 0.931731104850769,
137
+ "position": [
138
+ 0.10453988891094923,
139
+ 0.12189896487689111,
140
+ -0.02515923697501421
141
+ ],
142
+ "orientation": {
143
+ "w": 0.7082215933636675,
144
+ "xyz": [
145
+ 0.19964904407933926,
146
+ -0.6498653828864012,
147
+ 0.1903612828742883
148
+ ]
149
+ }
150
+ },
151
+ "grasp_6": {
152
+ "confidence": 0.9213307499885559,
153
+ "position": [
154
+ 0.054630997590720654,
155
+ 0.16006713443493936,
156
+ -0.027150162495672703
157
+ ],
158
+ "orientation": {
159
+ "w": 0.6673514889876035,
160
+ "xyz": [
161
+ 0.3872661075145703,
162
+ -0.5392386049127147,
163
+ 0.337473968015802
164
+ ]
165
+ }
166
+ },
167
+ "grasp_7": {
168
+ "confidence": 0.9194812774658203,
169
+ "position": [
170
+ 0.006287837401032448,
171
+ -0.17169233328604605,
172
+ -0.00939232762902975
173
+ ],
174
+ "orientation": {
175
+ "w": 0.5197523525102871,
176
+ "xyz": [
177
+ -0.5546477112157634,
178
+ -0.46037939319272336,
179
+ -0.45855667351662993
180
+ ]
181
+ }
182
+ },
183
+ "grasp_8": {
184
+ "confidence": 0.9194745421409607,
185
+ "position": [
186
+ 0.04764252807945013,
187
+ -0.16587825781607535,
188
+ -0.02125419769436121
189
+ ],
190
+ "orientation": {
191
+ "w": 0.4100493768735523,
192
+ "xyz": [
193
+ -0.552935844232445,
194
+ 0.4125522374335342,
195
+ 0.5965920818089603
196
+ ]
197
+ }
198
+ },
199
+ "grasp_9": {
200
+ "confidence": 0.9192392826080322,
201
+ "position": [
202
+ 0.014338803477585316,
203
+ 0.1747130387375364,
204
+ -0.017226881347596645
205
+ ],
206
+ "orientation": {
207
+ "w": 0.4521945422847405,
208
+ "xyz": [
209
+ 0.46729303747485,
210
+ 0.526510064937551,
211
+ -0.5476718584835982
212
+ ]
213
+ }
214
+ },
215
+ "grasp_10": {
216
+ "confidence": 0.9116030931472778,
217
+ "position": [
218
+ 0.07760995905846357,
219
+ -0.15487743086123373,
220
+ -0.02144304011017084
221
+ ],
222
+ "orientation": {
223
+ "w": 0.33574936602911054,
224
+ "xyz": [
225
+ -0.6062212249164664,
226
+ 0.3436731270496688,
227
+ 0.6337641291645739
228
+ ]
229
+ }
230
+ },
231
+ "grasp_11": {
232
+ "confidence": 0.9087602496147156,
233
+ "position": [
234
+ -0.003511058632284403,
235
+ -0.16766805118822958,
236
+ -0.008167785592377186
237
+ ],
238
+ "orientation": {
239
+ "w": 0.5082396217785774,
240
+ "xyz": [
241
+ -0.39719701172070454,
242
+ 0.6146663330822237,
243
+ 0.45399594679882704
244
+ ]
245
+ }
246
+ },
247
+ "grasp_15": {
248
+ "confidence": 0.8658654093742371,
249
+ "position": [
250
+ 0.0019367104396224022,
251
+ 0.17422799103951547,
252
+ -0.014968075789511204
253
+ ],
254
+ "orientation": {
255
+ "w": 0.46207441379593467,
256
+ "xyz": [
257
+ 0.45174085898838784,
258
+ 0.5413564873987667,
259
+ -0.5379131769968512
260
+ ]
261
+ }
262
+ },
263
+ "grasp_17": {
264
+ "confidence": 0.855095386505127,
265
+ "position": [
266
+ -0.02846014592796564,
267
+ -0.16103350288176443,
268
+ -0.018245925195515156
269
+ ],
270
+ "orientation": {
271
+ "w": 0.4132088265952453,
272
+ "xyz": [
273
+ -0.6260288072588395,
274
+ -0.32814761182996477,
275
+ -0.5741650833655303
276
+ ]
277
+ }
278
+ }
279
+ }
280
+ },
281
+ {
282
+ "part_name": "upper lining",
283
+ "mask_color": "Green",
284
+ "graspable": false,
285
+ "grasp_scenarios": [],
286
+ "functional_labels": [
287
+ "cushion the glasses",
288
+ "protect lenses from scratches",
289
+ "line the lid interior",
290
+ "provide soft contact surface"
291
+ ],
292
+ "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
+ "id": 1,
294
+ "grasp_group": {}
295
+ },
296
+ {
297
+ "part_name": "lower insert pad",
298
+ "mask_color": "Red",
299
+ "graspable": false,
300
+ "grasp_scenarios": [],
301
+ "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
+ "id": 0,
309
+ "grasp_group": {}
310
+ },
311
+ {
312
+ "part_name": "rim trim",
313
+ "mask_color": "Purple",
314
+ "graspable": false,
315
+ "grasp_scenarios": [],
316
+ "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
+ "id": 5,
324
+ "grasp_group": {}
325
+ },
326
+ {
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>