Add asset bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/affordance_annot.json +464 -0
- dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.urdf +1 -0
.gitattributes
CHANGED
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@@ -6046,3 +6046,4 @@ dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/mes
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| 6046 |
dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6047 |
dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6048 |
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6046 |
dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6047 |
dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6048 |
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6049 |
+
dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,464 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "holder body and back support",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body/base to pick up and reposition the holder",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the holder while placing or removing a phone or remote",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body from the side for transport or placement",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main structural support",
|
| 23 |
+
"support a handheld device against the backrest",
|
| 24 |
+
"provide the primary grasp surface",
|
| 25 |
+
"stabilize the holder on a surface",
|
| 26 |
+
"define the overall shape of the stand"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large light lavender plastic main body with a smooth matte finish, including a broad rounded rectangular base and an upright back support/cradle area with a recessed inner panel and small printed markings on the front.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9688746929168701,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.043538087455090135,
|
| 35 |
+
-0.008497803879436105,
|
| 36 |
+
0.13452435890212655
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.030587862093333123,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.9861134659110475,
|
| 42 |
+
-0.0027388721947105843,
|
| 43 |
+
-0.1632088037471069
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_5": {
|
| 48 |
+
"confidence": 0.9678198099136353,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.043226664362009615,
|
| 51 |
+
0.005253212118986994,
|
| 52 |
+
0.13477384904399514
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.03915246332482388,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.9848762109844119,
|
| 58 |
+
0.03485863999576269,
|
| 59 |
+
0.16513875641481665
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_9": {
|
| 64 |
+
"confidence": 0.9670478105545044,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.033610214886721224,
|
| 67 |
+
-0.042559503053780645,
|
| 68 |
+
0.13015895942226052
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.19490246281277682,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.9725649948397584,
|
| 74 |
+
-0.04304877518795441,
|
| 75 |
+
-0.1194870861502277
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_13": {
|
| 80 |
+
"confidence": 0.9663029313087463,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.04280814662342891,
|
| 83 |
+
0.00028825319168390706,
|
| 84 |
+
0.13613043585792184
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.027932538340643066,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.9858361973858866,
|
| 90 |
+
0.027751696400576648,
|
| 91 |
+
0.1630233375086953
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_16": {
|
| 96 |
+
"confidence": 0.9660685658454895,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.04010898381238803,
|
| 99 |
+
-0.003785755892749876,
|
| 100 |
+
0.13887622812762856
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.018562877355551826,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.989086732394908,
|
| 106 |
+
0.02019796275144764,
|
| 107 |
+
-0.14475806604586022
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_19": {
|
| 112 |
+
"confidence": 0.9651265740394592,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.03630628943210468,
|
| 115 |
+
-0.0488588236621581,
|
| 116 |
+
0.12854462722316384
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.20285192162817073,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.9643172156102182,
|
| 122 |
+
-0.09238792693901421,
|
| 123 |
+
-0.14285613926403662
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"part_name": "front retaining lip and rear adjustment knob",
|
| 131 |
+
"mask_color": "Green",
|
| 132 |
+
"graspable": true,
|
| 133 |
+
"grasp_scenarios": [
|
| 134 |
+
{
|
| 135 |
+
"scenario": "pinch or hold the front lip lightly while stabilizing or reorienting the stand",
|
| 136 |
+
"confidence": 0.41
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "grasp the rear knob lightly to tilt or adjust the support angle",
|
| 140 |
+
"confidence": 0.73
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"functional_labels": [
|
| 144 |
+
"retain the bottom edge of the stored device",
|
| 145 |
+
"prevent the device from sliding forward",
|
| 146 |
+
"provide a contact surface at the front of the cradle",
|
| 147 |
+
"serve as a hand-operated adjustment knob",
|
| 148 |
+
"help set or lock the viewing angle"
|
| 149 |
+
],
|
| 150 |
+
"semantic_description": "Light lavender smooth plastic secondary features consisting of a rounded front retaining lip across the lower front of the cradle and a small rounded knob at the rear upper area. The front lip is broader and shelf-like, while the rear knob is smaller and bulb-like.",
|
| 151 |
+
"id": 1,
|
| 152 |
+
"grasp_group": {
|
| 153 |
+
"grasp_21": {
|
| 154 |
+
"confidence": 0.9198549389839172,
|
| 155 |
+
"position": [
|
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dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:34ba97899ba101e39921114539806261a90c32ff9c13248f8467394a3a48e013
|
| 3 |
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size 3784320
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dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/remote_holder_014.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>NO: {"summary":"Distinct support clip and side grips are merged into one color despite different roles.","merge_groups":[]}</PartSegChecker>
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|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Distinct support clip and side grips are merged into one color despite different roles.","merge_groups":[]}</PartSegChecker>
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