Add asset bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/affordance/affordance_annot.json +619 -0
- dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.urdf +4 -3
.gitattributes
CHANGED
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@@ -6056,3 +6056,4 @@ dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/mes
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| 6056 |
dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6057 |
dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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| 6056 |
dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6057 |
dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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/d7fc4343ccbb57008b25bac8ab801b09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,619 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray panels",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad tray body to pick up and reposition the folding stand",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one tray panel to stabilize the stand while adjusting its angle",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support books, tablets, or small items",
|
| 19 |
+
"form the main resting surfaces",
|
| 20 |
+
"define the upper and lower platform areas",
|
| 21 |
+
"provide broad contact surfaces"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large light gray plastic panels with a matte smooth surface and rounded rectangular shape, forming the main upper and lower platform surfaces of the folding stand.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9832936525344849,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.021395597839727998,
|
| 30 |
+
0.047280256781959906,
|
| 31 |
+
0.1376651467235206
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.03190043293922134,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.04510630895134041,
|
| 37 |
+
0.9845282172928481,
|
| 38 |
+
-0.16628882291135455
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9829967021942139,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.034149019280448556,
|
| 46 |
+
0.014854937006020918,
|
| 47 |
+
0.14076105667663796
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.06721760293495918,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.00653264783346856,
|
| 53 |
+
0.99763061292801,
|
| 54 |
+
-0.013125491108760674
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.982492208480835,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.047457712003961205,
|
| 62 |
+
0.006630249466979876,
|
| 63 |
+
0.13770226551605447
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.14312496107700373,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.007682053745388135,
|
| 69 |
+
0.9896317501546152,
|
| 70 |
+
-0.009232044891112815
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9816195964813232,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.04641700745560229,
|
| 78 |
+
0.011995404172921553,
|
| 79 |
+
0.13534998311115487
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.13161633889981716,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.0025214911836006697,
|
| 85 |
+
0.9912430256386249,
|
| 86 |
+
-0.010394495639707343
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
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]
|
| 499 |
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}
|
| 500 |
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},
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| 501 |
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| 502 |
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"confidence": 0.9805331230163574,
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| 503 |
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| 509 |
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| 510 |
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| 511 |
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| 512 |
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0.9871805221699219,
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| 513 |
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| 514 |
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| 515 |
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}
|
| 516 |
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},
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| 517 |
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"grasp_12": {
|
| 518 |
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"confidence": 0.9805124998092651,
|
| 519 |
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"position": [
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| 520 |
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| 521 |
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| 522 |
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|
| 523 |
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],
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| 524 |
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| 526 |
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| 529 |
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| 530 |
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| 531 |
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| 532 |
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| 533 |
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"grasp_13": {
|
| 534 |
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"confidence": 0.9803879261016846,
|
| 535 |
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| 536 |
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| 537 |
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| 538 |
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| 539 |
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| 540 |
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|
| 550 |
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| 554 |
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"orientation": {
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| 558 |
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|
| 563 |
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}
|
| 564 |
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},
|
| 565 |
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"grasp_17": {
|
| 566 |
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"confidence": 0.9790574312210083,
|
| 567 |
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"position": [
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| 568 |
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|
| 569 |
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0.03016540702083148,
|
| 570 |
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|
| 571 |
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],
|
| 572 |
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"orientation": {
|
| 573 |
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"w": 0.06623299181401941,
|
| 574 |
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"xyz": [
|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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]
|
| 579 |
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}
|
| 580 |
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},
|
| 581 |
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"grasp_19": {
|
| 582 |
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"confidence": 0.9785995483398438,
|
| 583 |
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"position": [
|
| 584 |
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|
| 585 |
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0.0861836310068611,
|
| 586 |
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0.11197294457269891
|
| 587 |
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],
|
| 588 |
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"orientation": {
|
| 589 |
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"w": 0.0757669187004714,
|
| 590 |
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"xyz": [
|
| 591 |
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0.06374914313817993,
|
| 592 |
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0.9295548145538733,
|
| 593 |
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-0.3551383779873669
|
| 594 |
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]
|
| 595 |
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}
|
| 596 |
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}
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
{
|
| 600 |
+
"part_name": "hinge barrel covers",
|
| 601 |
+
"mask_color": "Violet",
|
| 602 |
+
"graspable": false,
|
| 603 |
+
"grasp_scenarios": [],
|
| 604 |
+
"functional_labels": [
|
| 605 |
+
"form the main hinge line",
|
| 606 |
+
"house the hinge connection",
|
| 607 |
+
"allow folding between tray panels",
|
| 608 |
+
"reinforce the panel junction"
|
| 609 |
+
],
|
| 610 |
+
"semantic_description": "Light gray cylindrical hinge cover sections with a smooth matte finish running across the central junction between the upper and lower tray panels, visible as repeated barrel-like segments.",
|
| 611 |
+
"id": 20,
|
| 612 |
+
"grasp_group": {}
|
| 613 |
+
}
|
| 614 |
+
],
|
| 615 |
+
"quality_check": {
|
| 616 |
+
"success": false,
|
| 617 |
+
"message": "Mask colors and part identities mismatch; hinge and foot-cap annotations are incorrect."
|
| 618 |
+
}
|
| 619 |
+
}
|
dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:416774924e9bf067ee3896dac1f9e4e27916c751d8ad00bcd52a081088927306
|
| 3 |
+
size 3790784
|
dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>6</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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>NO: {"summary":"Main tray and stand are reasonable, but several small colors fragment the same physical parts.","merge_groups":[{"colors":["Yellow","Midnight Blue"],"target_part":"main tray/panel","reason":"blue is a thin accidental strip on tray edge"},{"colors":["Purple","Brown"],"target_part":"support frame","reason":"brown appears as tiny frame/edge fragments"},{"colors":["Purple","Violet"],"target_part":"support frame","reason":"violet marks small repeated frame joints/ends"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|