Add asset bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/affordance_annot.json +374 -0
- dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -8045,3 +8045,4 @@ dataset/bedroom_supplies/storage/6b4a52cfe03d5da1a907bf9f915aa97b/affordance/mes
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| 8045 |
dataset/bedroom_supplies/storage/6b753291015c5fbd84c792962d467ad1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8046 |
dataset/bedroom_supplies/storage/6bc601ec4e3a52b8b37f9aea1b2d954e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8047 |
dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8045 |
dataset/bedroom_supplies/storage/6b753291015c5fbd84c792962d467ad1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8046 |
dataset/bedroom_supplies/storage/6bc601ec4e3a52b8b37f9aea1b2d954e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8047 |
dataset/bedroom_supplies/storage/6c15732d7aa450c1b4c3c3e957c0c823/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8048 |
+
dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the jewelry box",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while accessing the contents",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the box",
|
| 19 |
+
"protect contents",
|
| 20 |
+
"open for access",
|
| 21 |
+
"form the top enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rectangular white leather-covered top panel with a matte fine-grained pebbled texture, rounded corners, and stitched edges, forming the upper half of the box.",
|
| 24 |
+
"id": 10,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_20": {
|
| 27 |
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"confidence": 0.7275348901748657,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.1907991981504787,
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| 35 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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"grasp_21": {
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| 43 |
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| 44 |
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"grasp_22": {
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| 59 |
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| 73 |
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"grasp_23": {
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| 87 |
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| 88 |
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|
| 89 |
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},
|
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"grasp_24": {
|
| 91 |
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"confidence": 0.7093397378921509,
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| 92 |
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],
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"orientation": {
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| 103 |
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"grasp_26": {
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| 202 |
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"grasp_36": {
|
| 203 |
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"confidence": 0.6840038299560547,
|
| 204 |
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"position": [
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| 205 |
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-0.17130567895947024,
|
| 206 |
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0.03057944675674662,
|
| 207 |
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0.006288753531407565
|
| 208 |
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],
|
| 209 |
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"orientation": {
|
| 210 |
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|
| 211 |
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"xyz": [
|
| 212 |
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-0.030110792404456146,
|
| 213 |
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0.7192311171747683,
|
| 214 |
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|
| 215 |
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]
|
| 216 |
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}
|
| 217 |
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},
|
| 218 |
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"grasp_38": {
|
| 219 |
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"confidence": 0.6823155283927917,
|
| 220 |
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"position": [
|
| 221 |
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-0.14967734384117648,
|
| 222 |
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0.11949174565961584,
|
| 223 |
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-0.0018633499857969582
|
| 224 |
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],
|
| 225 |
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"orientation": {
|
| 226 |
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"w": 0.18871456298489184,
|
| 227 |
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"xyz": [
|
| 228 |
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|
| 229 |
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|
| 230 |
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0.7017061451986452
|
| 231 |
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]
|
| 232 |
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}
|
| 233 |
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}
|
| 234 |
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}
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
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"part_name": "box body",
|
| 238 |
+
"mask_color": "Navy",
|
| 239 |
+
"graspable": true,
|
| 240 |
+
"grasp_scenarios": [
|
| 241 |
+
{
|
| 242 |
+
"scenario": "grasp the box body from the sides to lift and carry the jewelry box",
|
| 243 |
+
"confidence": 0.9
|
| 244 |
+
},
|
| 245 |
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{
|
| 246 |
+
"scenario": "hold the body steady while opening the lid or strap",
|
| 247 |
+
"confidence": 0.85
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"functional_labels": [
|
| 251 |
+
"contain jewelry",
|
| 252 |
+
"support the structure",
|
| 253 |
+
"provide main grasp surface",
|
| 254 |
+
"rest on a table"
|
| 255 |
+
],
|
| 256 |
+
"semantic_description": "Large rectangular white case body with leather-like covering, matte slightly pebbled finish, hard smooth sides, rounded edges, and stitched seams forming the lower half of the box.",
|
| 257 |
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"id": 13,
|
| 258 |
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"grasp_group": {
|
| 259 |
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"grasp_70": {
|
| 260 |
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"confidence": 0.7341092228889465,
|
| 261 |
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|
| 262 |
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|
| 263 |
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0.10548450512578711,
|
| 264 |
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|
| 265 |
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],
|
| 266 |
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"orientation": {
|
| 267 |
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"w": 0.6835761774266957,
|
| 268 |
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"xyz": [
|
| 269 |
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0.17353111613539096,
|
| 270 |
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0.6909093406160498,
|
| 271 |
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|
| 272 |
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]
|
| 273 |
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}
|
| 274 |
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},
|
| 275 |
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"grasp_74": {
|
| 276 |
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"confidence": 0.7314557433128357,
|
| 277 |
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"position": [
|
| 278 |
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-0.15138398873386905,
|
| 279 |
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0.1030847848742269,
|
| 280 |
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-0.003837870724964887
|
| 281 |
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],
|
| 282 |
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"orientation": {
|
| 283 |
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"w": 0.6808143552661587,
|
| 284 |
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"xyz": [
|
| 285 |
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0.2003680091411539,
|
| 286 |
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0.680448058127054,
|
| 287 |
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-0.18257851671939898
|
| 288 |
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]
|
| 289 |
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}
|
| 290 |
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},
|
| 291 |
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"grasp_76": {
|
| 292 |
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"confidence": 0.7302871942520142,
|
| 293 |
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"position": [
|
| 294 |
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-0.15611089038429782,
|
| 295 |
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0.07685477001359686,
|
| 296 |
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-0.006451598659623414
|
| 297 |
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],
|
| 298 |
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"orientation": {
|
| 299 |
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"w": 0.6969504599745687,
|
| 300 |
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"xyz": [
|
| 301 |
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0.11760083511126881,
|
| 302 |
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0.6969646764834144,
|
| 303 |
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-0.12112117757328741
|
| 304 |
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]
|
| 305 |
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}
|
| 306 |
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},
|
| 307 |
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"grasp_77": {
|
| 308 |
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"confidence": 0.7299648523330688,
|
| 309 |
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"position": [
|
| 310 |
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|
| 311 |
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0.08453900081804022,
|
| 312 |
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-0.016624721989501268
|
| 313 |
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],
|
| 314 |
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"orientation": {
|
| 315 |
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"w": 0.16181681431981534,
|
| 316 |
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"xyz": [
|
| 317 |
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0.6666198867300596,
|
| 318 |
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-0.13491997991033722,
|
| 319 |
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0.7150033875726625
|
| 320 |
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]
|
| 321 |
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}
|
| 322 |
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}
|
| 323 |
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}
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"part_name": "strap",
|
| 327 |
+
"mask_color": "Green",
|
| 328 |
+
"graspable": true,
|
| 329 |
+
"grasp_scenarios": [
|
| 330 |
+
{
|
| 331 |
+
"scenario": "pinch and pull the strap to release or reposition it for opening",
|
| 332 |
+
"confidence": 0.87
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"scenario": "grasp the strap tab to orient the box during manipulation",
|
| 336 |
+
"confidence": 0.63
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"secure the lid closed",
|
| 341 |
+
"pull to open",
|
| 342 |
+
"retain closure",
|
| 343 |
+
"guide alignment across the top"
|
| 344 |
+
],
|
| 345 |
+
"semantic_description": "Narrow white leather strap with a matte pebbled surface and stitched edges, wrapping across the lid and down the front as a small flexible closure piece.",
|
| 346 |
+
"id": 1,
|
| 347 |
+
"grasp_group": {}
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"part_name": "front clasp tab",
|
| 351 |
+
"mask_color": "Maroon",
|
| 352 |
+
"graspable": true,
|
| 353 |
+
"grasp_scenarios": [
|
| 354 |
+
{
|
| 355 |
+
"scenario": "pinch the small front tab while releasing or aligning the closure strap",
|
| 356 |
+
"confidence": 0.56
|
| 357 |
+
}
|
| 358 |
+
],
|
| 359 |
+
"functional_labels": [
|
| 360 |
+
"anchor the closure",
|
| 361 |
+
"receive or retain the strap",
|
| 362 |
+
"help keep the box shut",
|
| 363 |
+
"provide front closure interface"
|
| 364 |
+
],
|
| 365 |
+
"semantic_description": "Small front-centered white leather tab with a smooth to lightly textured finish, positioned at the upper front edge beneath the strap as a compact closure anchor.",
|
| 366 |
+
"id": 12,
|
| 367 |
+
"grasp_group": {}
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"quality_check": {
|
| 371 |
+
"success": true,
|
| 372 |
+
"message": "YES"
|
| 373 |
+
}
|
| 374 |
+
}
|
dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:adfdc65485d7260e730f519fa39fe2dcfc456803b6497cfa51c57115b72a1c7e
|
| 3 |
+
size 3829068
|
dataset/bedroom_supplies/storage/6c252a4472da59ada129562218bdaef0/jewelry_box_004.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>NO: {"summary":"Lid, body, and closure hardware are mixed; key errors not fixable by merging alone.","merge_groups":[{"colors":["Green","Maroon"],"target_part":"closure hardware","reason":"Both are small latch/edge hardware pieces"}]}</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>NO: {"summary":"Lid, body, and closure hardware are mixed; key errors not fixable by merging alone.","merge_groups":[{"colors":["Green","Maroon"],"target_part":"closure hardware","reason":"Both are small latch/edge hardware pieces"}]}</PartSegChecker>
|