Add asset bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/affordance_annot.json +279 -0
- dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -8087,3 +8087,4 @@ dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/affordance/mes
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| 8087 |
dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8088 |
dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8089 |
dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8087 |
dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8088 |
dataset/bedroom_supplies/storage/94e0deb65b035b3ca0a5671e479a025c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8089 |
dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8090 |
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dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bin body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the side walls to lift and move the storage bin",
|
| 10 |
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"confidence": 0.9
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "pinch the upper rim and side to pull the bin from a shelf",
|
| 14 |
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"confidence": 0.79
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "hold opposing outer walls to stabilize the bin while placing it down",
|
| 18 |
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"confidence": 0.83
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"contain stored items",
|
| 23 |
+
"provide main structure",
|
| 24 |
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"support lifting and carrying",
|
| 25 |
+
"define interior cavity",
|
| 26 |
+
"protect contents",
|
| 27 |
+
"stabilize on a surface"
|
| 28 |
+
],
|
| 29 |
+
"semantic_description": "Open rectangular bin body with white and black chevron-patterned fabric-like material, a matte finish, slightly textured surface, tapered box shape, and large size forming the entire container with a plain light interior.",
|
| 30 |
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"id": 3,
|
| 31 |
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"grasp_group": {
|
| 32 |
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| 33 |
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-0.022752864635549486,
|
| 244 |
+
-0.11686719588760752,
|
| 245 |
+
-0.008864623960107565
|
| 246 |
+
],
|
| 247 |
+
"orientation": {
|
| 248 |
+
"w": 0.49220979223557987,
|
| 249 |
+
"xyz": [
|
| 250 |
+
-0.5020317152945193,
|
| 251 |
+
0.4968151375041241,
|
| 252 |
+
0.5087911127492387
|
| 253 |
+
]
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
"grasp_19": {
|
| 257 |
+
"confidence": 0.9007159471511841,
|
| 258 |
+
"position": [
|
| 259 |
+
-0.13093192724045366,
|
| 260 |
+
-0.06678416959766764,
|
| 261 |
+
-0.000724022975191474
|
| 262 |
+
],
|
| 263 |
+
"orientation": {
|
| 264 |
+
"w": 0.6720551102588261,
|
| 265 |
+
"xyz": [
|
| 266 |
+
-0.19547434219510443,
|
| 267 |
+
0.6907203841220776,
|
| 268 |
+
0.18176100042813825
|
| 269 |
+
]
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
],
|
| 275 |
+
"quality_check": {
|
| 276 |
+
"success": true,
|
| 277 |
+
"message": "YES"
|
| 278 |
+
}
|
| 279 |
+
}
|
dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6056a89158962ad38bd05049dfc16f0bf8464612d0aa09e6ee8587f5e78c40f1
|
| 3 |
+
size 3777008
|
dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.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>
|