Add asset bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/affordance_annot.json +1334 -0
- dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.urdf +1 -0
.gitattributes
CHANGED
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@@ -6031,3 +6031,4 @@ dataset/bedroom_supplies/storage/51caa858da3f595bbab60c07f7aee37f/affordance/mes
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| 6031 |
dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6032 |
dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6033 |
dataset/bedroom_supplies/storage/567a100bf60053f298724da7f58cf6e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6031 |
dataset/bedroom_supplies/storage/54293799b80a5515bf5ee9801c46a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6032 |
dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6033 |
dataset/bedroom_supplies/storage/567a100bf60053f298724da7f58cf6e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6034 |
+
dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1334 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front latch tabs",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the front latch tabs to release or secure the organizer",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pull on the front latch tabs to open the organizer",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the latch area to stabilize the organizer during lid manipulation",
|
| 18 |
+
"confidence": 0.56
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"lock the organizer closed",
|
| 23 |
+
"release the lid",
|
| 24 |
+
"provide a pinch point",
|
| 25 |
+
"indicate opening side"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small light gray plastic tabs with a matte smooth hard surface, protruding from one side as paired rectangular latch pieces at the front edge.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.8293007016181946,
|
| 32 |
+
"position": [
|
| 33 |
+
0.12023554369807243,
|
| 34 |
+
0.049404845776734874,
|
| 35 |
+
0.015198102686554193
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6590515844955257,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.15662250175942422,
|
| 41 |
+
-0.7108953273506861,
|
| 42 |
+
0.18907203512819407
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.8158749938011169,
|
| 48 |
+
"position": [
|
| 49 |
+
0.121342483907938,
|
| 50 |
+
0.03922990077990107,
|
| 51 |
+
0.006147652864456177
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.18243957926931625,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6980533607068282,
|
| 57 |
+
0.1612966250239094,
|
| 58 |
+
-0.673365208692752
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.7957412600517273,
|
| 64 |
+
"position": [
|
| 65 |
+
0.1324208416044712,
|
| 66 |
+
-0.007086832803906873,
|
| 67 |
+
-0.001722885761409998
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7152399392233799,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.07207206332908826,
|
| 73 |
+
-0.6929379194528753,
|
| 74 |
+
0.055448055074495635
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_8": {
|
| 79 |
+
"confidence": 0.8552520275115967,
|
| 80 |
+
"position": [
|
| 81 |
+
0.13058115914463997,
|
| 82 |
+
-0.009092398715438321,
|
| 83 |
+
-0.006727975327521563
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7116378395867056,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.009942520054503069,
|
| 89 |
+
-0.7024761348579446,
|
| 90 |
+
0.0001073236933241968
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_9": {
|
| 95 |
+
"confidence": 0.7903251051902771,
|
| 96 |
+
"position": [
|
| 97 |
+
0.13384315744042397,
|
| 98 |
+
0.009455244260607287,
|
| 99 |
+
-0.011930601205676794
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7295079630404269,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.014747368709770274,
|
| 105 |
+
-0.6838030962120287,
|
| 106 |
+
0.0037379924542204446
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_10": {
|
| 111 |
+
"confidence": 0.6808460354804993,
|
| 112 |
+
"position": [
|
| 113 |
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0.11853447929024696,
|
| 114 |
+
-0.037982336041750386,
|
| 115 |
+
0.006005333736538887
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.1951764146297607,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6988304389615286,
|
| 121 |
+
0.16305049278393724,
|
| 122 |
+
0.6685482193200608
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_12": {
|
| 127 |
+
"confidence": 0.5471994876861572,
|
| 128 |
+
"position": [
|
| 129 |
+
0.11866803094744682,
|
| 130 |
+
0.021056092547951266,
|
| 131 |
+
0.04608284728601575
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.08574702110223555,
|
| 135 |
+
"xyz": [
|
| 136 |
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0.7950405655743907,
|
| 137 |
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0.17805853851509335,
|
| 138 |
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-0.5734571512546641
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_13": {
|
| 143 |
+
"confidence": 0.9597734212875366,
|
| 144 |
+
"position": [
|
| 145 |
+
0.12981057539582253,
|
| 146 |
+
0.007623695972142741,
|
| 147 |
+
-0.003970831632614136
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.02079558793599498,
|
| 151 |
+
"xyz": [
|
| 152 |
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0.7076353910632306,
|
| 153 |
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0.0033072752567292474,
|
| 154 |
+
-0.706263944122565
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_14": {
|
| 159 |
+
"confidence": 0.951552152633667,
|
| 160 |
+
"position": [
|
| 161 |
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0.12967269495129585,
|
| 162 |
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-0.0003174828439114208,
|
| 163 |
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0.0033718980848789215
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
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"w": 0.018770740660254467,
|
| 167 |
+
"xyz": [
|
| 168 |
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-0.7148089533072295,
|
| 169 |
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-0.00462852298647809,
|
| 170 |
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0.6990524989883463
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_15": {
|
| 175 |
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"confidence": 0.9428735375404358,
|
| 176 |
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"position": [
|
| 177 |
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0.1284140981733799,
|
| 178 |
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-0.015103746933164075,
|
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|
dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:64427dc070f382e96f5c9b212f8aa0dddf49bf6f194d52a677c81847e0f20e1a
|
| 3 |
+
size 3783612
|
dataset/bedroom_supplies/storage/569093bcfa4459ea91dad5a2f71bbca6/pill_organizer_033.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>
|