Add asset bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/affordance_annot.json +704 -0
- dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/glasses_case_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -8056,3 +8056,4 @@ dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/affordance/mes
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| 8056 |
dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8057 |
dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8058 |
dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8056 |
dataset/bedroom_supplies/storage/7260bc66424c5e1e9ab27162389f7143/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8057 |
dataset/bedroom_supplies/storage/72e5d5209a4a5cca8482a36a6a78dea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8058 |
dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8059 |
+
dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,704 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the glasses case",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize the case while closing",
|
| 14 |
+
"confidence": 0.73
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"open and close the case",
|
| 20 |
+
"protect stored glasses",
|
| 21 |
+
"provide top shell structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large dark gray hard-shell top panel with a matte smooth finish and rounded rectangular shape, forming the upper half of the case and showing embossed branding on top.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.7832200527191162,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.005169169744476676,
|
| 30 |
+
0.12944108471856453,
|
| 31 |
+
0.07609403296373785
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.06869666300630181,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.045929006162359585,
|
| 37 |
+
0.8680322704638649,
|
| 38 |
+
-0.48958275328904777
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.752005934715271,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.019398275995627046,
|
| 46 |
+
0.11842999831424095,
|
| 47 |
+
0.07512626214884222
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.13322932299506818,
|
| 51 |
+
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{
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| 584 |
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| 585 |
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|
| 586 |
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| 587 |
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"cushion stored glasses",
|
| 588 |
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"protect lenses from scratches",
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| 589 |
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"line the interior",
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| 590 |
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"reduce rattling"
|
| 591 |
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],
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"semantic_description": "Dark nearly black soft-looking interior lining with a matte fine-textured fabric appearance, covering the inside cavity as a shallow padded surface.",
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| 593 |
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},
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{
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"part_name": "front latch",
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|
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"graspable": true,
|
| 600 |
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|
| 601 |
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{
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| 602 |
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"scenario": "pinch the front latch to release and open the case",
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| 603 |
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"confidence": 0.84
|
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},
|
| 605 |
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{
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| 606 |
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"scenario": "grasp the latch lightly to pull the case front into alignment for closing",
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}
|
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],
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"secure the case closed",
|
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"release the lid",
|
| 613 |
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"align front closure"
|
| 614 |
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],
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| 615 |
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"semantic_description": "Small light metallic front clasp with a smooth slightly reflective finish, centered on the case front edge as a compact rectangular hardware piece.",
|
| 616 |
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"id": 6,
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}
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| 650 |
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}
|
| 651 |
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},
|
| 652 |
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{
|
| 653 |
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"part_name": "top brand emblem",
|
| 654 |
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"mask_color": "Yellow",
|
| 655 |
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|
| 656 |
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|
| 657 |
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"functional_labels": [
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| 658 |
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"brand identification",
|
| 659 |
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"decorate the lid",
|
| 660 |
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"provide a visual orientation cue"
|
| 661 |
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],
|
| 662 |
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"semantic_description": "Small light-colored emblem or badge on the top surface of the lid, centered above the printed brand text with a smooth slightly reflective appearance.",
|
| 663 |
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"id": 3,
|
| 664 |
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"grasp_group": {}
|
| 665 |
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},
|
| 666 |
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{
|
| 667 |
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"part_name": "top brand text",
|
| 668 |
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"mask_color": "Magenta",
|
| 669 |
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"graspable": false,
|
| 670 |
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"grasp_scenarios": [],
|
| 671 |
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"functional_labels": [
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| 672 |
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"brand identification",
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"decorate the lid",
|
| 674 |
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"provide top-side orientation cue"
|
| 675 |
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],
|
| 676 |
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"semantic_description": "Short narrow line of light-colored printed or embossed brand text on the lid top, located near the center and appearing slightly reflective against the dark gray shell.",
|
| 677 |
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"id": 7,
|
| 678 |
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"grasp_group": {}
|
| 679 |
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},
|
| 680 |
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{
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| 681 |
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"part_name": "lid front pull tab",
|
| 682 |
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"mask_color": "Orange",
|
| 683 |
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"graspable": true,
|
| 684 |
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"grasp_scenarios": [
|
| 685 |
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{
|
| 686 |
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"scenario": "pinch the small front tab on the lid to help lift and open the case",
|
| 687 |
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|
| 688 |
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}
|
| 689 |
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],
|
| 690 |
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"functional_labels": [
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| 691 |
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"provide a small purchase point for opening",
|
| 692 |
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"mark the front opening edge",
|
| 693 |
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"decorate the lid front"
|
| 694 |
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],
|
| 695 |
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"semantic_description": "Small light-colored rectangular tab centered on the front edge of the lid, with a smooth slightly reflective surface.",
|
| 696 |
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"id": 4,
|
| 697 |
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"grasp_group": {}
|
| 698 |
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}
|
| 699 |
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],
|
| 700 |
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"quality_check": {
|
| 701 |
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"success": false,
|
| 702 |
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"message": "Yellow/Orange parts misidentified; no separate emblem and orange is not lid pull tab."
|
| 703 |
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}
|
| 704 |
+
}
|
dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3504e6043b0277171542099bf3b6433d77964c5b3aa6e3287e28a3dc09745e8f
|
| 3 |
+
size 3783356
|
dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/glasses_case_011.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|