Add asset bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d
Browse files- .gitattributes +1 -1
- dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/affordance_annot.json +253 -0
- dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.urdf +1 -0
.gitattributes
CHANGED
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@@ -6082,4 +6082,4 @@ dataset/bedroom_supplies/storage/f53839263983585e83d69f8173d45c4f/affordance/mes
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| 6082 |
dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6083 |
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
-
dataset/bedroom_supplies/storage/
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| 6082 |
dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6083 |
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
+
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,253 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the lid edge to open the case",
|
| 10 |
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"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the lid while positioning the case during access",
|
| 14 |
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"confidence": 0.58
|
| 15 |
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}
|
| 16 |
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],
|
| 17 |
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"functional_labels": [
|
| 18 |
+
"cover the compartments",
|
| 19 |
+
"protect stored items",
|
| 20 |
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"open and close the case",
|
| 21 |
+
"provide top access panel"
|
| 22 |
+
],
|
| 23 |
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"semantic_description": "A large rounded brown wooden top panel with a smooth satin finish and visible wood grain, hinged at the back and marked on top with a dark printed logo and small text.",
|
| 24 |
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"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_0": {
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| 27 |
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"confidence": 0.9721961617469788,
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| 28 |
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"position": [
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| 29 |
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| 31 |
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],
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"orientation": {
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"xyz": [
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| 40 |
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}
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| 41 |
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},
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"grasp_2": {
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"confidence": 0.9701327681541443,
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"position": [
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"orientation": {
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]
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|
| 139 |
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"confidence": 0.9660667777061462,
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
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| 146 |
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| 147 |
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| 148 |
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| 150 |
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| 151 |
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]
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| 152 |
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}
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| 153 |
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}
|
| 154 |
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}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "base",
|
| 158 |
+
"mask_color": "Blue",
|
| 159 |
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"graspable": true,
|
| 160 |
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"grasp_scenarios": [
|
| 161 |
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{
|
| 162 |
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"scenario": "grasp the base from the sides to pick up the case",
|
| 163 |
+
"confidence": 0.94
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
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"scenario": "hold the base steady while opening or closing the lid",
|
| 167 |
+
"confidence": 0.92
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "grasp the body to reposition the case on a surface",
|
| 171 |
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"confidence": 0.9
|
| 172 |
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}
|
| 173 |
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],
|
| 174 |
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"functional_labels": [
|
| 175 |
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"contain the stored items",
|
| 176 |
+
"support the whole case",
|
| 177 |
+
"provide main grasp surface",
|
| 178 |
+
"house the latch and hinge connections"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "A medium-sized oval brown wooden lower shell with a smooth hard satin surface, rounded edges, and visible wood grain forming the main body of the case.",
|
| 181 |
+
"id": 2,
|
| 182 |
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"grasp_group": {
|
| 183 |
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"grasp_20": {
|
| 184 |
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|
| 185 |
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],
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"orientation": {
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]
|
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}
|
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},
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| 199 |
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"grasp_27": {
|
| 200 |
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"confidence": 0.8053564429283142,
|
| 201 |
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"position": [
|
| 202 |
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],
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"orientation": {
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},
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"grasp_30": {
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"position": [
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],
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"orientation": {
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]
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| 230 |
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}
|
| 231 |
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}
|
| 232 |
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},
|
| 233 |
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{
|
| 234 |
+
"part_name": "compartments",
|
| 235 |
+
"mask_color": "Yellow",
|
| 236 |
+
"graspable": false,
|
| 237 |
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"grasp_scenarios": [],
|
| 238 |
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"functional_labels": [
|
| 239 |
+
"separate small stored items",
|
| 240 |
+
"contain small objects",
|
| 241 |
+
"organize contents",
|
| 242 |
+
"partition the interior"
|
| 243 |
+
],
|
| 244 |
+
"semantic_description": "Several small cream-colored recessed interior compartments with a soft padded or felt-like lining, divided into multiple sections inside the wooden base for organizing small items.",
|
| 245 |
+
"id": 3,
|
| 246 |
+
"grasp_group": {}
|
| 247 |
+
}
|
| 248 |
+
],
|
| 249 |
+
"quality_check": {
|
| 250 |
+
"success": true,
|
| 251 |
+
"message": "YES"
|
| 252 |
+
}
|
| 253 |
+
}
|
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:607f3d817bd20caed7149549782556ed3b8ea0a50488cedc88f570f336d7c599
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| 3 |
+
size 3781852
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dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.urdf
CHANGED
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@@ -58,6 +58,7 @@
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| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
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| 60 |
</visual_seg>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
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| 60 |
</visual_seg>
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| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
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| 64 |
<PartSegChecker>YES</PartSegChecker>
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