Add asset bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/affordance_annot.json +626 -0
- dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.urdf +1 -0
.gitattributes
CHANGED
|
@@ -6071,3 +6071,4 @@ dataset/bedroom_supplies/storage/e802e301aa7a5d8ab6295618c3e68bc7/affordance/mes
|
|
| 6071 |
dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6072 |
dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6073 |
dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6071 |
dataset/bedroom_supplies/storage/e8ab8295474f5985b30326ff2b4d3746/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6072 |
dataset/bedroom_supplies/storage/ea7d7b028495590a8888877a8277422a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6073 |
dataset/bedroom_supplies/storage/eb6b3a7194c25b74afac0b5be3a9a611/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6074 |
+
dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "case body",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the case body from the sides to pick up the pill organizer",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the case body steady while opening or closing the zipper",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reposition the organizer on a surface by gripping the body",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"enclose stored items",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"support zipper closure",
|
| 25 |
+
"main grasp surface",
|
| 26 |
+
"protect contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rounded rectangular light gray hard-shell case body, likely plastic or EVA-covered material, with a matte smooth finish, broad size, and a small printed label on the top face.",
|
| 29 |
+
"id": 10,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_21": {
|
| 32 |
+
"confidence": 0.9552032947540283,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0009331514593213797,
|
| 35 |
+
-0.1491191650275141,
|
| 36 |
+
-0.012336881467490457
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5299765822910274,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.49048253264255465,
|
| 42 |
+
0.4547036063833897,
|
| 43 |
+
0.5213409035723233
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_22": {
|
| 48 |
+
"confidence": 0.9549122452735901,
|
| 49 |
+
"position": [
|
| 50 |
+
0.007138056913390756,
|
| 51 |
+
-0.15138986357487738,
|
| 52 |
+
-0.004211024483083747
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5033296476915543,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5081752624583473,
|
| 58 |
+
0.47839146744223704,
|
| 59 |
+
0.5094691082475452
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_23": {
|
| 64 |
+
"confidence": 0.9548977613449097,
|
| 65 |
+
"position": [
|
| 66 |
+
0.0036744375247508287,
|
| 67 |
+
-0.14884273358620703,
|
| 68 |
+
-0.006456196409999393
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.4976001286827691,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.4857654983878453,
|
| 74 |
+
0.4944845920349519,
|
| 75 |
+
0.5214508421231352
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_24": {
|
| 80 |
+
"confidence": 0.9532895684242249,
|
| 81 |
+
"position": [
|
| 82 |
+
0.11613110755570233,
|
| 83 |
+
-0.04391410597600043,
|
| 84 |
+
-0.006444461745559238
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.012862847000021915,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.6781147997928613,
|
| 90 |
+
0.0020488793194133326,
|
| 91 |
+
0.734840572888076
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_25": {
|
| 96 |
+
"confidence": 0.9524487853050232,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.11470364476554096,
|
| 99 |
+
-0.04804077395237982,
|
| 100 |
+
0.004212058513076045
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.020440185182287615,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.7129981203553956,
|
| 106 |
+
-0.03944767839611407,
|
| 107 |
+
-0.699756929132212
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_26": {
|
| 112 |
+
"confidence": 0.9524216651916504,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.004161549964919686,
|
| 115 |
+
-0.14550992497242987,
|
| 116 |
+
-0.0005881815595785156
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5001296155919331,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.507802479715162,
|
| 122 |
+
-0.500619770341121,
|
| 123 |
+
-0.4913113623218998
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_27": {
|
| 128 |
+
"confidence": 0.9513139128684998,
|
| 129 |
+
"position": [
|
| 130 |
+
0.010477464878931642,
|
| 131 |
+
-0.1472978109959513,
|
| 132 |
+
0.0038699581200489774
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5030937575368538,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.5035886151613758,
|
| 138 |
+
-0.5239992031117312,
|
| 139 |
+
-0.46767511473839213
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_28": {
|
| 144 |
+
"confidence": 0.9511346220970154,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.0004522001836448908,
|
| 147 |
+
-0.15160146006383002,
|
| 148 |
+
0.0013283473817864433
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.4905818389587046,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.4968856261515449,
|
| 154 |
+
-0.5201188459883253,
|
| 155 |
+
-0.4918439995116904
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_30": {
|
| 160 |
+
"confidence": 0.9489269256591797,
|
| 161 |
+
"position": [
|
| 162 |
+
0.009020005585625768,
|
| 163 |
+
-0.15057110437192023,
|
| 164 |
+
-0.012195577481179498
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5062417108290806,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.4863656971772271,
|
| 170 |
+
0.47036357707706766,
|
| 171 |
+
0.5347203420344323
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_31": {
|
| 176 |
+
"confidence": 0.9485868811607361,
|
| 177 |
+
"position": [
|
| 178 |
+
0.015923676313832402,
|
| 179 |
+
-0.15005972632206976,
|
| 180 |
+
-0.0044176267547300085
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.5042642097158317,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.5352831235641847,
|
| 186 |
+
0.44643211418214823,
|
| 187 |
+
0.5097920672724272
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_32": {
|
| 192 |
+
"confidence": 0.948239266872406,
|
| 193 |
+
"position": [
|
| 194 |
+
-5.9922575019299984e-05,
|
| 195 |
+
-0.14381341286934912,
|
| 196 |
+
0.0017276188737014309
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.49232539304744466,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.506894454099175,
|
| 202 |
+
-0.5116528762586204,
|
| 203 |
+
-0.4887586868593323
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_33": {
|
| 208 |
+
"confidence": 0.9482309818267822,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.051959168864414096,
|
| 211 |
+
-0.1413853878621012,
|
| 212 |
+
-0.006546267875819467
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6081657065000542,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.3561351470940299,
|
| 218 |
+
0.5956907177524094,
|
| 219 |
+
0.3852983249706946
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_34": {
|
| 224 |
+
"confidence": 0.9480916857719421,
|
| 225 |
+
"position": [
|
| 226 |
+
0.020718707935884595,
|
| 227 |
+
-0.1429638231638819,
|
| 228 |
+
-0.0010133225441677496
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5534897332756502,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.47764202289189434,
|
| 234 |
+
-0.5223887342905582,
|
| 235 |
+
-0.43888178751515566
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_35": {
|
| 240 |
+
"confidence": 0.9479878544807434,
|
| 241 |
+
"position": [
|
| 242 |
+
0.006870213197544217,
|
| 243 |
+
-0.14460470923222601,
|
| 244 |
+
0.0006308697193162516
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5027184621600802,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.5073499379866583,
|
| 250 |
+
-0.5112236522318903,
|
| 251 |
+
-0.47803824703367126
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_36": {
|
| 256 |
+
"confidence": 0.94797682762146,
|
| 257 |
+
"position": [
|
| 258 |
+
0.03324282099492848,
|
| 259 |
+
-0.1427048856858164,
|
| 260 |
+
-0.0058488856157055125
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.45605676129606537,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.5638513438744804,
|
| 266 |
+
0.393716449208104,
|
| 267 |
+
0.5648639217635062
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_37": {
|
| 272 |
+
"confidence": 0.9477525353431702,
|
| 273 |
+
"position": [
|
| 274 |
+
0.012909087585285306,
|
| 275 |
+
-0.14246941753663123,
|
| 276 |
+
-0.007921385215013288
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.5108220534234204,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.509741653852958,
|
| 282 |
+
0.448036369975198,
|
| 283 |
+
0.5277193261981025
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_38": {
|
| 288 |
+
"confidence": 0.947594404220581,
|
| 289 |
+
"position": [
|
| 290 |
+
0.012373873265460134,
|
| 291 |
+
-0.14520358690060675,
|
| 292 |
+
0.0034485916985431686
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.5020394586651765,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.4856436312904677,
|
| 298 |
+
-0.5417190253474147,
|
| 299 |
+
-0.4675972015600947
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_39": {
|
| 304 |
+
"confidence": 0.9473676681518555,
|
| 305 |
+
"position": [
|
| 306 |
+
-0.01084765582345426,
|
| 307 |
+
-0.1483441407326609,
|
| 308 |
+
-0.010222735450952314
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.5368398514733117,
|
| 312 |
+
"xyz": [
|
| 313 |
+
-0.4700253261638028,
|
| 314 |
+
0.4838066708131087,
|
| 315 |
+
0.5067645132716573
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
+
},
|
| 321 |
+
{
|
| 322 |
+
"part_name": "zipper track",
|
| 323 |
+
"mask_color": "Brown",
|
| 324 |
+
"graspable": false,
|
| 325 |
+
"grasp_scenarios": [],
|
| 326 |
+
"functional_labels": [
|
| 327 |
+
"close the organizer perimeter",
|
| 328 |
+
"join top and bottom halves",
|
| 329 |
+
"guide zipper sliders",
|
| 330 |
+
"seal the storage compartment"
|
| 331 |
+
],
|
| 332 |
+
"semantic_description": "Thin dark zipper band running around the case perimeter, with a slightly textured fabric-and-teeth appearance and a narrow continuous strip shape between the upper and lower shell halves.",
|
| 333 |
+
"id": 11,
|
| 334 |
+
"grasp_group": {}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "zipper pulls",
|
| 338 |
+
"mask_color": "Pink",
|
| 339 |
+
"graspable": true,
|
| 340 |
+
"grasp_scenarios": [
|
| 341 |
+
{
|
| 342 |
+
"scenario": "pinch the zipper pulls to open or close the organizer",
|
| 343 |
+
"confidence": 0.94
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"scenario": "grasp the zipper pulls to orient the case front edge",
|
| 347 |
+
"confidence": 0.46
|
| 348 |
+
},
|
| 349 |
+
{
|
| 350 |
+
"scenario": "lightly hold the zipper pulls to stabilize the case during manipulation",
|
| 351 |
+
"confidence": 0.34
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"functional_labels": [
|
| 355 |
+
"pull the zipper",
|
| 356 |
+
"open the case",
|
| 357 |
+
"close the case",
|
| 358 |
+
"indicate zipper location"
|
| 359 |
+
],
|
| 360 |
+
"semantic_description": "Small black paired zipper tabs, likely plastic or coated metal, with a smooth slightly matte finish and compact dangling shape located at the front center edge of the case.",
|
| 361 |
+
"id": 8,
|
| 362 |
+
"grasp_group": {
|
| 363 |
+
"grasp_1": {
|
| 364 |
+
"confidence": 0.6364428997039795,
|
| 365 |
+
"position": [
|
| 366 |
+
0.006945684785023332,
|
| 367 |
+
0.012252948945388198,
|
| 368 |
+
-0.10543516241887119
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.9993648420362233,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.02080909144966717,
|
| 374 |
+
-0.01589287224160063,
|
| 375 |
+
0.02417252214531044
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_2": {
|
| 380 |
+
"confidence": 0.621824324131012,
|
| 381 |
+
"position": [
|
| 382 |
+
0.001434336882084608,
|
| 383 |
+
0.002344816690310836,
|
| 384 |
+
-0.10258785598853137
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.9999003626789069,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.011128563726248847,
|
| 390 |
+
-0.005175426781372283,
|
| 391 |
+
-0.006973861312968747
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_3": {
|
| 396 |
+
"confidence": 0.539306104183197,
|
| 397 |
+
"position": [
|
| 398 |
+
-0.0033014920772984624,
|
| 399 |
+
0.0012615327723324299,
|
| 400 |
+
-0.11030410938838031
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.9995283285671434,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.012077912705726258,
|
| 406 |
+
0.026348524180896504,
|
| 407 |
+
0.010148876289261081
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_4": {
|
| 412 |
+
"confidence": 0.5365610122680664,
|
| 413 |
+
"position": [
|
| 414 |
+
0.0037059427704662085,
|
| 415 |
+
-1.2135133147239685e-05,
|
| 416 |
+
-0.11086142771819141
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.9997507696669033,
|
| 420 |
+
"xyz": [
|
| 421 |
+
0.009942772399228375,
|
| 422 |
+
-0.002842681756201837,
|
| 423 |
+
0.019785322536785558
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_5": {
|
| 428 |
+
"confidence": 0.5215060710906982,
|
| 429 |
+
"position": [
|
| 430 |
+
-0.004043832188472152,
|
| 431 |
+
0.0044855603482574224,
|
| 432 |
+
-0.10639084094145801
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.9977857491513767,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.04319617569228752,
|
| 438 |
+
0.02757798098630515,
|
| 439 |
+
0.04239273712212113
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_6": {
|
| 444 |
+
"confidence": 0.5209594368934631,
|
| 445 |
+
"position": [
|
| 446 |
+
0.002817598870024085,
|
| 447 |
+
-0.00234994463971816,
|
| 448 |
+
-0.10667058044055011
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.9993113212292066,
|
| 452 |
+
"xyz": [
|
| 453 |
+
0.012256651406727466,
|
| 454 |
+
0.00046197513249579547,
|
| 455 |
+
0.035020627327458455
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_7": {
|
| 460 |
+
"confidence": 0.499289333820343,
|
| 461 |
+
"position": [
|
| 462 |
+
0.011677719885483384,
|
| 463 |
+
-0.01944062695838511,
|
| 464 |
+
-0.1040371503768256
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.013557928336322066,
|
| 468 |
+
"xyz": [
|
| 469 |
+
-0.03896427448744733,
|
| 470 |
+
0.10718033286392459,
|
| 471 |
+
0.9933832815887695
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"grasp_9": {
|
| 476 |
+
"confidence": 0.4384055435657501,
|
| 477 |
+
"position": [
|
| 478 |
+
-0.02092919941060245,
|
| 479 |
+
0.01837779744528234,
|
| 480 |
+
0.10060168094059918
|
| 481 |
+
],
|
| 482 |
+
"orientation": {
|
| 483 |
+
"w": 0.07272334087483184,
|
| 484 |
+
"xyz": [
|
| 485 |
+
0.9901663115693271,
|
| 486 |
+
0.036980938055057144,
|
| 487 |
+
0.11364154762130471
|
| 488 |
+
]
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"grasp_10": {
|
| 492 |
+
"confidence": 0.43108487129211426,
|
| 493 |
+
"position": [
|
| 494 |
+
-0.03716086293570697,
|
| 495 |
+
-0.00687148398719728,
|
| 496 |
+
0.09997693485638592
|
| 497 |
+
],
|
| 498 |
+
"orientation": {
|
| 499 |
+
"w": 0.054585328041406436,
|
| 500 |
+
"xyz": [
|
| 501 |
+
-0.9832330007910597,
|
| 502 |
+
-0.02508937622850485,
|
| 503 |
+
-0.17217384040116152
|
| 504 |
+
]
|
| 505 |
+
}
|
| 506 |
+
},
|
| 507 |
+
"grasp_11": {
|
| 508 |
+
"confidence": 0.4024757146835327,
|
| 509 |
+
"position": [
|
| 510 |
+
-0.01612561452202499,
|
| 511 |
+
0.003986203810200095,
|
| 512 |
+
0.09913296288868878
|
| 513 |
+
],
|
| 514 |
+
"orientation": {
|
| 515 |
+
"w": 0.07584714748969376,
|
| 516 |
+
"xyz": [
|
| 517 |
+
-0.004567591998408366,
|
| 518 |
+
0.9969732278482429,
|
| 519 |
+
-0.016453883276226135
|
| 520 |
+
]
|
| 521 |
+
}
|
| 522 |
+
},
|
| 523 |
+
"grasp_12": {
|
| 524 |
+
"confidence": 0.40026775002479553,
|
| 525 |
+
"position": [
|
| 526 |
+
0.002182461554184556,
|
| 527 |
+
0.03366084746085107,
|
| 528 |
+
-0.09953781926014926
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.040818624581116035,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.0008319881658676714,
|
| 534 |
+
0.1485116365076502,
|
| 535 |
+
-0.988067528818156
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_13": {
|
| 540 |
+
"confidence": 0.32148537039756775,
|
| 541 |
+
"position": [
|
| 542 |
+
-0.006149919470772147,
|
| 543 |
+
-0.004191034939140081,
|
| 544 |
+
-0.1103562261996558
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.023076825478040554,
|
| 548 |
+
"xyz": [
|
| 549 |
+
0.05418747410349681,
|
| 550 |
+
-0.011605073153088563,
|
| 551 |
+
0.9981966239440256
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"grasp_14": {
|
| 556 |
+
"confidence": 0.1817253828048706,
|
| 557 |
+
"position": [
|
| 558 |
+
-0.009223024128004909,
|
| 559 |
+
-0.010430013062432408,
|
| 560 |
+
-0.105516016119509
|
| 561 |
+
],
|
| 562 |
+
"orientation": {
|
| 563 |
+
"w": 0.12849547828985608,
|
| 564 |
+
"xyz": [
|
| 565 |
+
0.06025288892403869,
|
| 566 |
+
-0.025144688815104677,
|
| 567 |
+
0.9895586117354345
|
| 568 |
+
]
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"grasp_15": {
|
| 572 |
+
"confidence": 0.6681303977966309,
|
| 573 |
+
"position": [
|
| 574 |
+
0.003853922476992011,
|
| 575 |
+
0.01021461351774633,
|
| 576 |
+
-0.10500100963690784
|
| 577 |
+
],
|
| 578 |
+
"orientation": {
|
| 579 |
+
"w": 0.9997374186466781,
|
| 580 |
+
"xyz": [
|
| 581 |
+
0.01549203991028921,
|
| 582 |
+
-0.009843989760786931,
|
| 583 |
+
0.013718102007349327
|
| 584 |
+
]
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"grasp_16": {
|
| 588 |
+
"confidence": 0.6357519626617432,
|
| 589 |
+
"position": [
|
| 590 |
+
0.0006624709349125624,
|
| 591 |
+
0.004022344248369336,
|
| 592 |
+
-0.10597170852997806
|
| 593 |
+
],
|
| 594 |
+
"orientation": {
|
| 595 |
+
"w": 0.9999688754403667,
|
| 596 |
+
"xyz": [
|
| 597 |
+
-0.002473262286500086,
|
| 598 |
+
0.0022626315069548264,
|
| 599 |
+
0.007142242144797528
|
| 600 |
+
]
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"grasp_19": {
|
| 604 |
+
"confidence": 0.5239174365997314,
|
| 605 |
+
"position": [
|
| 606 |
+
0.016058285953477025,
|
| 607 |
+
0.004293180303648114,
|
| 608 |
+
-0.10083638840296771
|
| 609 |
+
],
|
| 610 |
+
"orientation": {
|
| 611 |
+
"w": 0.9947423437930469,
|
| 612 |
+
"xyz": [
|
| 613 |
+
0.061259182455636094,
|
| 614 |
+
-0.08203305364570168,
|
| 615 |
+
-0.0023579948143407753
|
| 616 |
+
]
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
],
|
| 622 |
+
"quality_check": {
|
| 623 |
+
"success": true,
|
| 624 |
+
"message": "YES"
|
| 625 |
+
}
|
| 626 |
+
}
|
dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3aba06090b8eb85f84628eb526022ae38bf621be89c70e01d49bbcde04c07a7c
|
| 3 |
+
size 3804392
|
dataset/bedroom_supplies/storage/ebd921247dc15db9abe00eef639a24a2/pill_organizer_012.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":"Top, bottom, and zipper band are merged; zipper pull is separate but main functional parts are not.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Top, bottom, and zipper band are merged; zipper pull is separate but main functional parts are not.","merge_groups":[]}</PartSegChecker>
|