Add asset bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/affordance_annot.json +479 -0
- dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/basket_003.urdf +1 -0
.gitattributes
CHANGED
|
@@ -5988,3 +5988,4 @@ dataset/bedroom_supplies/storage/28ac391236fc5dffad66e45383072974/affordance/mes
|
|
| 5988 |
dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5989 |
dataset/bedroom_supplies/storage/2ac781ae697f5c9089c7e04443797c0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 5988 |
dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5989 |
dataset/bedroom_supplies/storage/2ac781ae697f5c9089c7e04443797c0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 5991 |
+
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,479 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top rim",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top rim to pick up the empty basket",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to stabilize the basket during placement",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch a rim corner to reorient the basket",
|
| 18 |
+
"confidence": 0.75
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a top gripping edge",
|
| 23 |
+
"stiffen the opening",
|
| 24 |
+
"define the container opening",
|
| 25 |
+
"support carrying and repositioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Narrow light tan woven wood or bamboo rim with a matte finish and slightly ribbed texture, running around the top edge as a reinforced rounded border.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_57": {
|
| 31 |
+
"confidence": 0.11099845916032791,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.14900737621064764,
|
| 34 |
+
0.06287826655898243,
|
| 35 |
+
0.014650839380919933
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5444194012067253,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.4009255396822783,
|
| 41 |
+
0.43276639035018993,
|
| 42 |
+
0.5963048537480236
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "upper side wall",
|
| 50 |
+
"mask_color": "Red",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp opposite upper side walls to lift the basket",
|
| 55 |
+
"confidence": 0.68
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "hold one upper side wall to slide or reposition the basket",
|
| 59 |
+
"confidence": 0.6
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"scenario": "stabilize the basket by pressing on the side during loading",
|
| 63 |
+
"confidence": 0.55
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"functional_labels": [
|
| 67 |
+
"contain items laterally",
|
| 68 |
+
"form the upper basket body",
|
| 69 |
+
"provide side support",
|
| 70 |
+
"present the decorative outer band"
|
| 71 |
+
],
|
| 72 |
+
"semantic_description": "Upper side section of the basket body, mostly light tan on the inside with a blue-and-white wave-pattern decorative band visible around the exterior, matte woven surface and rounded square shape.",
|
| 73 |
+
"id": 0,
|
| 74 |
+
"grasp_group": {
|
| 75 |
+
"grasp_1": {
|
| 76 |
+
"confidence": 0.9822438359260559,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.07706159718509298,
|
| 79 |
+
-0.008675401448272169,
|
| 80 |
+
0.12533498089760542
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.021455386744067877,
|
| 84 |
+
"xyz": [
|
| 85 |
+
0.008644886567899976,
|
| 86 |
+
0.9997305260846377,
|
| 87 |
+
0.0019512894260361826
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_4": {
|
| 92 |
+
"confidence": 0.9785391688346863,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.07512653239245992,
|
| 95 |
+
-0.004734174231998622,
|
| 96 |
+
0.12440270464867353
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.012688251159803692,
|
| 100 |
+
"xyz": [
|
| 101 |
+
0.018373193066425878,
|
| 102 |
+
0.9995122379927132,
|
| 103 |
+
0.0218339222735515
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_5": {
|
| 108 |
+
"confidence": 0.9780600666999817,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.08343787111516576,
|
| 111 |
+
-0.04317471699323505,
|
| 112 |
+
0.1129308296367526
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.061656277957599114,
|
| 116 |
+
"xyz": [
|
| 117 |
+
0.010213095535318698,
|
| 118 |
+
0.9629906389798006,
|
| 119 |
+
0.26218929288831844
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_6": {
|
| 124 |
+
"confidence": 0.9773295521736145,
|
| 125 |
+
"position": [
|
| 126 |
+
0.022503085507196374,
|
| 127 |
+
0.07155621109995991,
|
| 128 |
+
0.1257826266810298
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.022807724320792845,
|
| 132 |
+
"xyz": [
|
| 133 |
+
0.7338149753719243,
|
| 134 |
+
0.6787882141461239,
|
| 135 |
+
0.015554740998331337
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_7": {
|
| 140 |
+
"confidence": 0.9768969416618347,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.0017681126919342205,
|
| 143 |
+
0.06641262082848698,
|
| 144 |
+
0.12233625631779432
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.06941128851820574,
|
| 148 |
+
"xyz": [
|
| 149 |
+
-0.704582662001643,
|
| 150 |
+
0.7037025497335704,
|
| 151 |
+
-0.05956565227874147
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_8": {
|
| 156 |
+
"confidence": 0.9765486717224121,
|
| 157 |
+
"position": [
|
| 158 |
+
-0.07463913031097036,
|
| 159 |
+
-0.024207434966228902,
|
| 160 |
+
0.12292357068508863
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.011773150907634523,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.007619161257200585,
|
| 166 |
+
0.9982799413741847,
|
| 167 |
+
0.05692538932143581
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_9": {
|
| 172 |
+
"confidence": 0.9757552742958069,
|
| 173 |
+
"position": [
|
| 174 |
+
-0.0755681283044396,
|
| 175 |
+
-0.03462631197180599,
|
| 176 |
+
0.11877539288252592
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.23113063432108782,
|
| 180 |
+
"xyz": [
|
| 181 |
+
-0.972532656677671,
|
| 182 |
+
-0.00335747961966279,
|
| 183 |
+
-0.027342072057663792
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_10": {
|
| 188 |
+
"confidence": 0.9755419492721558,
|
| 189 |
+
"position": [
|
| 190 |
+
0.016381420267862268,
|
| 191 |
+
0.0705375304678455,
|
| 192 |
+
0.1202838746830821
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.021370171917178514,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.7395693843131073,
|
| 198 |
+
0.6721552066316904,
|
| 199 |
+
0.028068126707544744
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
"grasp_11": {
|
| 204 |
+
"confidence": 0.9753021597862244,
|
| 205 |
+
"position": [
|
| 206 |
+
-0.0806730351614533,
|
| 207 |
+
-0.02864242100622505,
|
| 208 |
+
0.1169715253636241
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.21133190899409623,
|
| 212 |
+
"xyz": [
|
| 213 |
+
-0.9767124925013289,
|
| 214 |
+
0.001589646405924433,
|
| 215 |
+
-0.03700005752774667
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_12": {
|
| 220 |
+
"confidence": 0.9749107956886292,
|
| 221 |
+
"position": [
|
| 222 |
+
0.003911091553163715,
|
| 223 |
+
0.07606673298869282,
|
| 224 |
+
0.12717563193291426
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.09246658076067052,
|
| 228 |
+
"xyz": [
|
| 229 |
+
0.7429454064051287,
|
| 230 |
+
0.6624496377426753,
|
| 231 |
+
0.02534821489862701
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"grasp_14": {
|
| 236 |
+
"confidence": 0.9737221002578735,
|
| 237 |
+
"position": [
|
| 238 |
+
-0.07501484818931203,
|
| 239 |
+
-0.014879106893204153,
|
| 240 |
+
0.12183606904000044
|
| 241 |
+
],
|
| 242 |
+
"orientation": {
|
| 243 |
+
"w": 0.18254681660495334,
|
| 244 |
+
"xyz": [
|
| 245 |
+
-0.9828688732058674,
|
| 246 |
+
-0.00171906342436981,
|
| 247 |
+
-0.025347241494275315
|
| 248 |
+
]
|
| 249 |
+
}
|
| 250 |
+
},
|
| 251 |
+
"grasp_15": {
|
| 252 |
+
"confidence": 0.9723083972930908,
|
| 253 |
+
"position": [
|
| 254 |
+
-0.006451052540796809,
|
| 255 |
+
0.07082281319890171,
|
| 256 |
+
0.12612864654511213
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.03793421325507078,
|
| 260 |
+
"xyz": [
|
| 261 |
+
-0.7103351626049578,
|
| 262 |
+
0.70179494618588,
|
| 263 |
+
-0.03832500149595333
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_16": {
|
| 268 |
+
"confidence": 0.9722889065742493,
|
| 269 |
+
"position": [
|
| 270 |
+
-0.07855799414392095,
|
| 271 |
+
-0.05243349017109722,
|
| 272 |
+
0.11735865753144026
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.03381139785247383,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.0068991744604754695,
|
| 278 |
+
0.9791119650178138,
|
| 279 |
+
0.20037203079766722
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_18": {
|
| 284 |
+
"confidence": 0.9720215201377869,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.07615792371507268,
|
| 287 |
+
0.010422339313663542,
|
| 288 |
+
0.12355014961212873
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.023462961291440678,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.025192119566926033,
|
| 294 |
+
0.9962351223836842,
|
| 295 |
+
0.07956398361273707
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_19": {
|
| 300 |
+
"confidence": 0.9712738990783691,
|
| 301 |
+
"position": [
|
| 302 |
+
0.0685395263863029,
|
| 303 |
+
0.004270267323590815,
|
| 304 |
+
0.1234988896176219
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.06423157080775473,
|
| 308 |
+
"xyz": [
|
| 309 |
+
0.9978408112665812,
|
| 310 |
+
0.008649014087588627,
|
| 311 |
+
-0.010640264927708934
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
}
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"part_name": "lower body and base",
|
| 319 |
+
"mask_color": "Green",
|
| 320 |
+
"graspable": true,
|
| 321 |
+
"grasp_scenarios": [
|
| 322 |
+
{
|
| 323 |
+
"scenario": "support the basket from underneath to lift it",
|
| 324 |
+
"confidence": 0.8
|
| 325 |
+
},
|
| 326 |
+
{
|
| 327 |
+
"scenario": "grasp the lower body near the bottom edge for a secure pickup",
|
| 328 |
+
"confidence": 0.58
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"scenario": "hold the base while emptying or tilting the basket",
|
| 332 |
+
"confidence": 0.62
|
| 333 |
+
}
|
| 334 |
+
],
|
| 335 |
+
"functional_labels": [
|
| 336 |
+
"support contents from below",
|
| 337 |
+
"provide a stable resting surface",
|
| 338 |
+
"form the base and lower body",
|
| 339 |
+
"bear load during carrying"
|
| 340 |
+
],
|
| 341 |
+
"semantic_description": "Light tan woven wood or bamboo lower basket section including the flat base and lower exterior sidewalls, with a matte finish, slightly rough texture, and rounded-square footprint.",
|
| 342 |
+
"id": 1,
|
| 343 |
+
"grasp_group": {
|
| 344 |
+
"grasp_21": {
|
| 345 |
+
"confidence": 0.21038872003555298,
|
| 346 |
+
"position": [
|
| 347 |
+
0.03293237842444796,
|
| 348 |
+
0.07845145522151142,
|
| 349 |
+
-0.12804430443793535
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.7282063488531393,
|
| 353 |
+
"xyz": [
|
| 354 |
+
0.09791386907964454,
|
| 355 |
+
-0.05913014466812161,
|
| 356 |
+
0.6757455243827825
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_27": {
|
| 361 |
+
"confidence": 0.19821304082870483,
|
| 362 |
+
"position": [
|
| 363 |
+
0.016721619365853257,
|
| 364 |
+
0.06493353901896626,
|
| 365 |
+
-0.1262986483052373
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.723968736296907,
|
| 369 |
+
"xyz": [
|
| 370 |
+
0.0006127726866166406,
|
| 371 |
+
-0.01958250401594297,
|
| 372 |
+
0.6895545075704742
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_29": {
|
| 377 |
+
"confidence": 0.19603946805000305,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.06369141109462362,
|
| 380 |
+
0.01288832409773022,
|
| 381 |
+
-0.12979103345423937
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.05310368146819942,
|
| 385 |
+
"xyz": [
|
| 386 |
+
0.045199398064853485,
|
| 387 |
+
-0.022823895138685102,
|
| 388 |
+
0.9973044085131667
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_31": {
|
| 393 |
+
"confidence": 0.1911689043045044,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.055077757613616996,
|
| 396 |
+
0.052889153943397105,
|
| 397 |
+
-0.12878936249762774
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.32807622102203426,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.012534919577042334,
|
| 403 |
+
-0.015586001691016094,
|
| 404 |
+
0.9444394874963593
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_32": {
|
| 409 |
+
"confidence": 0.18999779224395752,
|
| 410 |
+
"position": [
|
| 411 |
+
0.1462653615308227,
|
| 412 |
+
-0.04232991801109165,
|
| 413 |
+
-0.0178356459364295
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.7062604359561673,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.13250264892751057,
|
| 419 |
+
-0.6831858310820829,
|
| 420 |
+
-0.12998601785916133
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_37": {
|
| 425 |
+
"confidence": 0.18071727454662323,
|
| 426 |
+
"position": [
|
| 427 |
+
0.003155177997541614,
|
| 428 |
+
0.056333665386773646,
|
| 429 |
+
-0.12811933923512697
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.7249357068370994,
|
| 433 |
+
"xyz": [
|
| 434 |
+
0.013479438107566641,
|
| 435 |
+
0.01970565828453308,
|
| 436 |
+
0.6884026530544991
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"grasp_38": {
|
| 441 |
+
"confidence": 0.1803160458803177,
|
| 442 |
+
"position": [
|
| 443 |
+
-0.07387562461371999,
|
| 444 |
+
0.005044343997724354,
|
| 445 |
+
-0.12448106426745653
|
| 446 |
+
],
|
| 447 |
+
"orientation": {
|
| 448 |
+
"w": 0.9935852129231004,
|
| 449 |
+
"xyz": [
|
| 450 |
+
0.06312195671238692,
|
| 451 |
+
0.09355452270116993,
|
| 452 |
+
0.007182932793323972
|
| 453 |
+
]
|
| 454 |
+
}
|
| 455 |
+
},
|
| 456 |
+
"grasp_39": {
|
| 457 |
+
"confidence": 0.17864522337913513,
|
| 458 |
+
"position": [
|
| 459 |
+
0.00022141258523333818,
|
| 460 |
+
0.06381475983653218,
|
| 461 |
+
-0.12866678554564714
|
| 462 |
+
],
|
| 463 |
+
"orientation": {
|
| 464 |
+
"w": 0.7373327628876742,
|
| 465 |
+
"xyz": [
|
| 466 |
+
-0.013947920711246852,
|
| 467 |
+
-0.044761943560209794,
|
| 468 |
+
0.6739007498801092
|
| 469 |
+
]
|
| 470 |
+
}
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
}
|
| 474 |
+
],
|
| 475 |
+
"quality_check": {
|
| 476 |
+
"success": true,
|
| 477 |
+
"message": "YES"
|
| 478 |
+
}
|
| 479 |
+
}
|
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d005ddc2ff6193197e3734c957809ca7556677b5d7c431d3394b99fb98845df
|
| 3 |
+
size 3782156
|
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/basket_003.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>
|