Add asset bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/affordance_annot.json +416 -0
- dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.urdf +1 -0
.gitattributes
CHANGED
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@@ -6039,3 +6039,4 @@ dataset/bedroom_supplies/storage/5c75ec256ef552acb591849089f4724e/affordance/mes
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| 6039 |
dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6040 |
dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6041 |
dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6039 |
dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6040 |
dataset/bedroom_supplies/storage/600c4b818f0456f4a0d5f796373ec99d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6041 |
dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6042 |
+
dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,416 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "case body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the case body from the sides to pick up the glasses case",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the case body while pulling the zipper to open or close it",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the case body while placing it into a bag or drawer",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
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"contain eyeglasses",
|
| 23 |
+
"protect contents",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"support opening and closing",
|
| 26 |
+
"cushion stored item"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large off-white case body made of textured leather or faux leather with a matte finish, hard yet slightly padded feel, rounded rectangular shape, and embossed reptile-like grain covering most of the exterior.",
|
| 29 |
+
"id": 1,
|
| 30 |
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"grasp_group": {
|
| 31 |
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"grasp_0": {
|
| 32 |
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"confidence": 0.9921396374702454,
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| 33 |
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"position": [
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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],
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| 38 |
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"orientation": {
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"w": 0.008458707894375818,
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| 40 |
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"xyz": [
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| 43 |
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| 44 |
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]
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| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9913629293441772,
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| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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],
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| 54 |
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"orientation": {
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| 59 |
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9913047552108765,
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| 65 |
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"position": [
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| 69 |
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],
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"orientation": {
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"w": 0.021251822801875993,
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| 72 |
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"xyz": [
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]
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| 77 |
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}
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| 78 |
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},
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| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9906373620033264,
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| 81 |
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"position": [
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],
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| 86 |
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"orientation": {
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| 87 |
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"xyz": [
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]
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}
|
| 94 |
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},
|
| 95 |
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"grasp_4": {
|
| 96 |
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"confidence": 0.9905462265014648,
|
| 97 |
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"position": [
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"orientation": {
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"xyz": [
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"grasp_5": {
|
| 112 |
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"confidence": 0.9904487729072571,
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"position": [
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"orientation": {
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| 124 |
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]
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| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_6": {
|
| 128 |
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"confidence": 0.9897369742393494,
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| 129 |
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"position": [
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},
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"grasp_7": {
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| 144 |
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"confidence": 0.9896754622459412,
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],
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"orientation": {
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},
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"grasp_8": {
|
| 160 |
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"confidence": 0.9892830848693848,
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"position": [
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},
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"grasp_9": {
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| 176 |
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"guide zipper slider"
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],
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"semantic_description": "Thin metallic zipper track running along the top seam, with a slightly reflective finish and narrow linear shape tracing the case opening.",
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{
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"part_name": "zipper pull tab",
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{
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],
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| 390 |
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"provide a small manipulation point"
|
| 391 |
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],
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"semantic_description": "Small tan pull tab attached to the zipper slider, likely leather, with a matte finish, smooth firm texture, and flat tapered shape hanging from one end of the case.",
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| 393 |
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"id": 5,
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| 394 |
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},
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{
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"part_name": "side seam trim",
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|
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| 401 |
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"finish edge transition",
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"reinforce seam",
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"cover joint line",
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"indicate end boundary"
|
| 406 |
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],
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| 407 |
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"semantic_description": "Narrow off-white trim or seam strip at the case ends, matching the body material with a matte smooth-to-textured surface and curved band shape wrapping around the side edge.",
|
| 408 |
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"id": 7,
|
| 409 |
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}
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],
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| 412 |
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"quality_check": {
|
| 413 |
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"success": true,
|
| 414 |
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"message": "YES"
|
| 415 |
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}
|
| 416 |
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}
|
dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97ede4fd802a972f171ab0629532e7a320803bacaf6eb2be3cc58e86561f8ff0
|
| 3 |
+
size 3781580
|
dataset/bedroom_supplies/storage/62ba3a56292f5954a580d58108219b10/glasses_case_019.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>
|