Add asset bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/affordance_annot.json +303 -0
- dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.urdf +1 -0
.gitattributes
CHANGED
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@@ -6058,4 +6058,4 @@ dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mes
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| 6058 |
dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6059 |
dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6060 |
dataset/bedroom_supplies/storage/d8cbe14aefb6527591688ff9df905f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6061 |
-
dataset/bedroom_supplies/storage/
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| 6058 |
dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6059 |
dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6060 |
dataset/bedroom_supplies/storage/d8cbe14aefb6527591688ff9df905f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6061 |
+
dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer shell",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer body from the sides to pick up and move the remote holder",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to reposition the holder on a table or shelf",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the holder by clamping the outer shell while inserting or removing a remote",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the structure",
|
| 23 |
+
"enclose the holder",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"rest on a surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large dark gray plastic shell with a matte smooth hard surface, rounded box-like form, and slightly curved sides forming the main exterior body of the holder with a small white logo on one side.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
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"confidence": 0.734097421169281,
|
| 33 |
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"position": [
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| 34 |
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| 35 |
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0.13182543427683413,
|
| 36 |
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-0.06034575984813273
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.09381100426165045,
|
| 40 |
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"xyz": [
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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]
|
| 45 |
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}
|
| 46 |
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},
|
| 47 |
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"grasp_1": {
|
| 48 |
+
"confidence": 0.6983870267868042,
|
| 49 |
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"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.09372401606966779,
|
| 56 |
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"xyz": [
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| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.6982309222221375,
|
| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.1883555102742362,
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
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| 77 |
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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": 0.6817030906677246,
|
| 81 |
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"position": [
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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],
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| 86 |
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"orientation": {
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| 87 |
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"w": 0.12892471317277493,
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| 88 |
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"xyz": [
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| 90 |
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| 91 |
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|
| 92 |
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]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"grasp_5": {
|
| 96 |
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"confidence": 0.6500505805015564,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
|
| 103 |
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"w": 0.04267488256955253,
|
| 104 |
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"xyz": [
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|
| 107 |
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| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_6": {
|
| 112 |
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"confidence": 0.6425750851631165,
|
| 113 |
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"position": [
|
| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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|
| 123 |
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|
| 124 |
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]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_8": {
|
| 128 |
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"confidence": 0.6297358274459839,
|
| 129 |
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"position": [
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| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.08691377363665533,
|
| 136 |
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"xyz": [
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| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_10": {
|
| 144 |
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"confidence": 0.626486599445343,
|
| 145 |
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"position": [
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.1339366233817277,
|
| 152 |
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"xyz": [
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| 153 |
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0.06948101749651554,
|
| 154 |
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0.7751080698812948,
|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_12": {
|
| 160 |
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"confidence": 0.6216538548469543,
|
| 161 |
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"position": [
|
| 162 |
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-0.022312366869300604,
|
| 163 |
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-0.09148380695842206,
|
| 164 |
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0.11479659914039075
|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.11886590378877664,
|
| 168 |
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"xyz": [
|
| 169 |
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0.09109864682762542,
|
| 170 |
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0.9469383394456825,
|
| 171 |
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0.2843935912613137
|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_14": {
|
| 176 |
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"confidence": 0.6139355897903442,
|
| 177 |
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"position": [
|
| 178 |
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-0.03766737645491958,
|
| 179 |
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0.024785353103652596,
|
| 180 |
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0.14150389074347913
|
| 181 |
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],
|
| 182 |
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"orientation": {
|
| 183 |
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"w": 0.17553343914370978,
|
| 184 |
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"xyz": [
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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]
|
| 189 |
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}
|
| 190 |
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}
|
| 191 |
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}
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"part_name": "front opening rim",
|
| 195 |
+
"mask_color": "Orange",
|
| 196 |
+
"graspable": true,
|
| 197 |
+
"grasp_scenarios": [
|
| 198 |
+
{
|
| 199 |
+
"scenario": "pinch the front rim to slightly reposition the holder",
|
| 200 |
+
"confidence": 0.44
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"scenario": "hold the front opening edge to stabilize the holder while removing a remote",
|
| 204 |
+
"confidence": 0.4
|
| 205 |
+
}
|
| 206 |
+
],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"provide access opening",
|
| 209 |
+
"define the insertion mouth",
|
| 210 |
+
"guide remote insertion",
|
| 211 |
+
"indicate front orientation"
|
| 212 |
+
],
|
| 213 |
+
"semantic_description": "Dark gray matte plastic front opening area with a rounded rectangular rim at the mouth of the holder, forming the visible front edge and side lip around the cavity.",
|
| 214 |
+
"id": 4,
|
| 215 |
+
"grasp_group": {
|
| 216 |
+
"grasp_27": {
|
| 217 |
+
"confidence": 0.4902324080467224,
|
| 218 |
+
"position": [
|
| 219 |
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0.13297796109691262,
|
| 220 |
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0.041793504962697625,
|
| 221 |
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-0.09062390238977969
|
| 222 |
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],
|
| 223 |
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"orientation": {
|
| 224 |
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"w": 0.7335540037584752,
|
| 225 |
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"xyz": [
|
| 226 |
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|
| 227 |
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|
| 228 |
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0.49475393351688307
|
| 229 |
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]
|
| 230 |
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}
|
| 231 |
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},
|
| 232 |
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| 265 |
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| 266 |
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| 294 |
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| 295 |
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| 296 |
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| 297 |
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|
| 298 |
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],
|
| 299 |
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"quality_check": {
|
| 300 |
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"success": true,
|
| 301 |
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"message": "YES"
|
| 302 |
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}
|
| 303 |
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}
|
dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f10b398625aa24b6c0518ec9584b14c4ba37730ffb6db6697fe055d3b808ba9c
|
| 3 |
+
size 3780584
|
dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.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>
|