Add asset bedroom_supplies/storage/46a99abb139c59afb150444253401763
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/affordance_annot.json +602 -0
- dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/remote_holder_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -6015,3 +6015,4 @@ dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/affordance/mes
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| 6015 |
dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6016 |
dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6017 |
dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6015 |
dataset/bedroom_supplies/storage/44731c7fa47b50cd8a3c0609c794cd16/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6016 |
dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6017 |
dataset/bedroom_supplies/storage/45891c0dcbf65b639c11900dcb6eadc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6018 |
+
dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,602 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "remote holder body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the holder body from the sides to pick up the entire holder with the remote inside",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the holder body to reposition it on a table or shelf",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the holder body while inserting or removing the remote",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the remote",
|
| 23 |
+
"support stored item",
|
| 24 |
+
"provide main structure",
|
| 25 |
+
"stand upright on a surface",
|
| 26 |
+
"protect and organize remote"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large translucent frosted white plastic container with a smooth hard surface, tapered rectangular shape, and open top, forming the main body at the bottom and sides with white MUJI branding visible on the front.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.7690122127532959,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.11837984042358585,
|
| 35 |
+
0.004909605486318469,
|
| 36 |
+
0.07952030608430505
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.44317873103437105,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5375817402832637,
|
| 42 |
+
0.5672978699815707,
|
| 43 |
+
-0.439057640392643
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.7269486784934998,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.12241441177320667,
|
| 51 |
+
0.0022405304480344057,
|
| 52 |
+
0.05993271479383111
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5053766190991863,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5097778385749722,
|
| 58 |
+
0.4983087713500297,
|
| 59 |
+
0.48621949422182675
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_28": {
|
| 64 |
+
"confidence": 0.5949726104736328,
|
| 65 |
+
"position": [
|
| 66 |
+
0.1165378226141911,
|
| 67 |
+
-0.0026565559674054384,
|
| 68 |
+
-0.11732753505930305
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6085000920999002,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.3724634019937299,
|
| 74 |
+
-0.34863834293890594,
|
| 75 |
+
-0.6078239530674021
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_32": {
|
| 80 |
+
"confidence": 0.5808142423629761,
|
| 81 |
+
"position": [
|
| 82 |
+
0.1122152192692738,
|
| 83 |
+
0.013318269746378064,
|
| 84 |
+
-0.13405309012159705
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.648408046485913,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.30284405639207995,
|
| 90 |
+
-0.29669890216826644,
|
| 91 |
+
-0.6323149881289057
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_38": {
|
| 96 |
+
"confidence": 0.5523790121078491,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.11798931824159808,
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| 99 |
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| 509 |
+
"prevent forward slip",
|
| 510 |
+
"stabilize top opening"
|
| 511 |
+
],
|
| 512 |
+
"semantic_description": "Thin white plastic bar assembly with a smooth hard finish, spanning the upper front and sides of the holder as a narrow open-frame retaining rail near the top edge.",
|
| 513 |
+
"id": 0,
|
| 514 |
+
"grasp_group": {
|
| 515 |
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"grasp_1": {
|
| 516 |
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"confidence": 0.3014026880264282,
|
| 517 |
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| 518 |
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|
| 519 |
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0.06180782918818295,
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| 520 |
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| 521 |
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],
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| 522 |
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| 523 |
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| 524 |
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| 525 |
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| 526 |
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| 527 |
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| 528 |
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]
|
| 529 |
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}
|
| 530 |
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},
|
| 531 |
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"grasp_8": {
|
| 532 |
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"confidence": 0.34574416279792786,
|
| 533 |
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"position": [
|
| 534 |
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0.1427899806003552,
|
| 535 |
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0.011085098842158914,
|
| 536 |
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0.0883262068964541
|
| 537 |
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],
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| 538 |
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"orientation": {
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| 539 |
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"w": 0.6269279444098642,
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| 540 |
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"xyz": [
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| 541 |
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| 542 |
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|
| 543 |
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0.008467547599555612
|
| 544 |
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]
|
| 545 |
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}
|
| 546 |
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},
|
| 547 |
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"grasp_12": {
|
| 548 |
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"confidence": 0.19697974622249603,
|
| 549 |
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"position": [
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| 550 |
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0.14266461713123135,
|
| 551 |
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-0.02415369707159698,
|
| 552 |
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0.08202379802241921
|
| 553 |
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],
|
| 554 |
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"orientation": {
|
| 555 |
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"w": 0.6627622548172826,
|
| 556 |
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"xyz": [
|
| 557 |
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-0.09313455807352984,
|
| 558 |
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-0.7428456975185798,
|
| 559 |
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0.01588764803533011
|
| 560 |
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]
|
| 561 |
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}
|
| 562 |
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},
|
| 563 |
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"grasp_14": {
|
| 564 |
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"confidence": 0.49585095047950745,
|
| 565 |
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"position": [
|
| 566 |
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0.13529232723522,
|
| 567 |
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0.01552146882750094,
|
| 568 |
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0.07968423375859857
|
| 569 |
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],
|
| 570 |
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"orientation": {
|
| 571 |
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"w": 0.41966523208096207,
|
| 572 |
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"xyz": [
|
| 573 |
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-0.5546253357103739,
|
| 574 |
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-0.5712551561053902,
|
| 575 |
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0.4358203489898024
|
| 576 |
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]
|
| 577 |
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}
|
| 578 |
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},
|
| 579 |
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"grasp_18": {
|
| 580 |
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"confidence": 0.3130222260951996,
|
| 581 |
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"position": [
|
| 582 |
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0.12808065695571713,
|
| 583 |
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0.0013491965364664793,
|
| 584 |
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0.10482358047738671
|
| 585 |
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],
|
| 586 |
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"orientation": {
|
| 587 |
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"w": 0.337593253978737,
|
| 588 |
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"xyz": [
|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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]
|
| 593 |
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}
|
| 594 |
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}
|
| 595 |
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}
|
| 596 |
+
}
|
| 597 |
+
],
|
| 598 |
+
"quality_check": {
|
| 599 |
+
"success": true,
|
| 600 |
+
"message": "YES"
|
| 601 |
+
}
|
| 602 |
+
}
|
dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a9d35c236753c58c6a3efd99d5ff015b2d115653dae8147f7f5d380a8c1fcd3d
|
| 3 |
+
size 3790188
|
dataset/bedroom_supplies/storage/46a99abb139c59afb150444253401763/remote_holder_026.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>NO: {"summary":"Remote and holder are mixed; holder frame and body are merged, while remote details are over-segmented.","merge_groups":[]}</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>NO: {"summary":"Remote and holder are mixed; holder frame and body are merged, while remote details are over-segmented.","merge_groups":[]}</PartSegChecker>
|