Add asset bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/affordance_annot.json +315 -0
- dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.urdf +1 -0
.gitattributes
CHANGED
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@@ -6040,3 +6040,4 @@ dataset/bedroom_supplies/storage/5e47ba5b4adf59098c7cba368d60821b/affordance/mes
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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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| 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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| 6043 |
+
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edges to lift and open the jewelry box",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to remove it completely from the box",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the top while repositioning the box",
|
| 18 |
+
"confidence": 0.48
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the box opening",
|
| 23 |
+
"protect stored jewelry",
|
| 24 |
+
"enable opening and closing",
|
| 25 |
+
"provide top surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Flat square translucent white plastic lid with a glossy smooth hard surface, slightly rounded corners, and a medium-size top piece that sits on the box upper edge.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.6323096752166748,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.01301724233973382,
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| 39 |
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"xyz": [
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| 40 |
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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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"grasp_1": {
|
| 47 |
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"confidence": 0.6314448118209839,
|
| 48 |
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"position": [
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.006409914791135683,
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| 55 |
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"xyz": [
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| 56 |
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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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"grasp_2": {
|
| 63 |
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"confidence": 0.623661458492279,
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| 64 |
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}
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| 77 |
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"grasp_3": {
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"confidence": 0.6154363751411438,
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| 91 |
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]
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| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_7": {
|
| 95 |
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"confidence": 0.597202479839325,
|
| 96 |
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"position": [
|
| 97 |
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|
| 99 |
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| 100 |
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],
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| 101 |
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"orientation": {
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| 106 |
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]
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| 109 |
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| 110 |
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"grasp_10": {
|
| 111 |
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"confidence": 0.5924084782600403,
|
| 112 |
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|
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|
| 115 |
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| 116 |
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],
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"orientation": {
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| 119 |
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| 122 |
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|
| 123 |
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]
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| 124 |
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}
|
| 125 |
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},
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"grasp_11": {
|
| 127 |
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| 128 |
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|
| 132 |
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],
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"orientation": {
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]
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}
|
| 141 |
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},
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| 142 |
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"grasp_12": {
|
| 143 |
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|
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| 145 |
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],
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"orientation": {
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|
| 155 |
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]
|
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}
|
| 157 |
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},
|
| 158 |
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"grasp_14": {
|
| 159 |
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"confidence": 0.5830691456794739,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_17": {
|
| 175 |
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"confidence": 0.5749034285545349,
|
| 176 |
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"position": [
|
| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
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| 183 |
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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 |
+
"part_name": "top knob",
|
| 194 |
+
"mask_color": "Pink",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "pinch the top knob to lift or open the lid",
|
| 199 |
+
"confidence": 0.94
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"scenario": "use the knob to guide lid placement during closing",
|
| 203 |
+
"confidence": 0.87
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"functional_labels": [
|
| 207 |
+
"provide a grip point",
|
| 208 |
+
"assist lid opening",
|
| 209 |
+
"assist lid alignment",
|
| 210 |
+
"indicate lid center"
|
| 211 |
+
],
|
| 212 |
+
"semantic_description": "Small round black plastic knob centered on the lid, with a glossy smooth hard finish and a short cylindrical button-like shape.",
|
| 213 |
+
"id": 8,
|
| 214 |
+
"grasp_group": {
|
| 215 |
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"grasp_40": {
|
| 216 |
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"confidence": 0.5047012567520142,
|
| 217 |
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"position": [
|
| 218 |
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|
| 219 |
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0.13411050383001566,
|
| 220 |
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0.025001533329486847
|
| 221 |
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],
|
| 222 |
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"orientation": {
|
| 223 |
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"w": 0.5483018498715685,
|
| 224 |
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"xyz": [
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|
| 226 |
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|
| 227 |
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|
| 228 |
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]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_41": {
|
| 232 |
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"confidence": 0.5243065357208252,
|
| 233 |
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"position": [
|
| 234 |
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-0.13546223076991737,
|
| 235 |
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-0.0025106484536081553,
|
| 236 |
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|
| 237 |
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],
|
| 238 |
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"orientation": {
|
| 239 |
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"w": 0.42670576010666766,
|
| 240 |
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"xyz": [
|
| 241 |
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-0.5676481897687159,
|
| 242 |
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|
| 243 |
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-0.4313345364650551
|
| 244 |
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]
|
| 245 |
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}
|
| 246 |
+
},
|
| 247 |
+
"grasp_42": {
|
| 248 |
+
"confidence": 0.47663846611976624,
|
| 249 |
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"position": [
|
| 250 |
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|
| 251 |
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|
| 252 |
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0.025197796523571014
|
| 253 |
+
],
|
| 254 |
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"orientation": {
|
| 255 |
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"w": 0.3616649906602249,
|
| 256 |
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"xyz": [
|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
+
]
|
| 261 |
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}
|
| 262 |
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},
|
| 263 |
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"grasp_43": {
|
| 264 |
+
"confidence": 0.5241022706031799,
|
| 265 |
+
"position": [
|
| 266 |
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-0.01116198836825788,
|
| 267 |
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0.1266331458464265,
|
| 268 |
+
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|
| 269 |
+
],
|
| 270 |
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"orientation": {
|
| 271 |
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"w": 0.879284217795913,
|
| 272 |
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"xyz": [
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
+
]
|
| 277 |
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}
|
| 278 |
+
}
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"part_name": "box body",
|
| 283 |
+
"mask_color": "Orange",
|
| 284 |
+
"graspable": true,
|
| 285 |
+
"grasp_scenarios": [
|
| 286 |
+
{
|
| 287 |
+
"scenario": "grasp the box body from opposite side walls to pick up the jewelry box",
|
| 288 |
+
"confidence": 0.83
|
| 289 |
+
},
|
| 290 |
+
{
|
| 291 |
+
"scenario": "hold the body to stabilize it while opening the lid",
|
| 292 |
+
"confidence": 0.8
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"scenario": "grasp the lower body to reposition the box on a surface",
|
| 296 |
+
"confidence": 0.77
|
| 297 |
+
}
|
| 298 |
+
],
|
| 299 |
+
"functional_labels": [
|
| 300 |
+
"contain jewelry",
|
| 301 |
+
"support the lid",
|
| 302 |
+
"provide main structure",
|
| 303 |
+
"stabilize stored contents",
|
| 304 |
+
"support placement on a surface"
|
| 305 |
+
],
|
| 306 |
+
"semantic_description": "Large square translucent clear-to-frosted plastic container body with glossy smooth hard walls, slightly tapered sides, and small printed label markings visible on one face.",
|
| 307 |
+
"id": 4,
|
| 308 |
+
"grasp_group": {}
|
| 309 |
+
}
|
| 310 |
+
],
|
| 311 |
+
"quality_check": {
|
| 312 |
+
"success": true,
|
| 313 |
+
"message": "YES"
|
| 314 |
+
}
|
| 315 |
+
}
|
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:71c235c3737db0a58ea8d1a2fb86be678829dc6fb32148044537902c38f649a6
|
| 3 |
+
size 4759820
|
dataset/bedroom_supplies/storage/6301305536a15fbb8760324fdea007dc/jewelry_box_018.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>
|