Add asset kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/affordance_annot.json +366 -0
- dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/storage_bin_110.urdf +1 -0
.gitattributes
CHANGED
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@@ -7067,3 +7067,4 @@ dataset/kitchen_supplies/cutting_tools/f4e408c4fa9c5798a3137735d4181e4d/affordan
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| 7067 |
dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7068 |
dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7069 |
dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7067 |
dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7068 |
dataset/kitchen_supplies/storage/02886f52566b5c899f05b638fca25e64/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7069 |
dataset/kitchen_supplies/storage/02ba263685c4525bb42c2dacf1ca9739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7070 |
+
dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,366 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer side walls",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp opposing outer side walls to lift or reposition the empty bin",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold a side wall to stabilize the bin while placing or removing items",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"form the main outer container walls",
|
| 19 |
+
"contain stored items",
|
| 20 |
+
"provide side support",
|
| 21 |
+
"give the bin its tapered structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large tapered sage-green plastic outer wall surfaces with a matte to satin finish, smooth hard texture, and white decorative printed panels on the exterior faces.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "inner lining",
|
| 29 |
+
"mask_color": "Cyan",
|
| 30 |
+
"graspable": false,
|
| 31 |
+
"grasp_scenarios": [],
|
| 32 |
+
"functional_labels": [
|
| 33 |
+
"form the interior cavity surface",
|
| 34 |
+
"provide smooth inner walls",
|
| 35 |
+
"define the storage cavity"
|
| 36 |
+
],
|
| 37 |
+
"semantic_description": "Smooth sage-green plastic interior wall surface with a matte finish and hard texture, lining the inside of the bin and defining the open storage cavity.",
|
| 38 |
+
"id": 6,
|
| 39 |
+
"grasp_group": {}
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"part_name": "top rim",
|
| 43 |
+
"mask_color": "Orange",
|
| 44 |
+
"graspable": true,
|
| 45 |
+
"grasp_scenarios": [
|
| 46 |
+
{
|
| 47 |
+
"scenario": "pinch or hook under the top rim to lift the empty bin",
|
| 48 |
+
"confidence": 0.82
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"scenario": "grasp the rim edge to pull or slide the bin",
|
| 52 |
+
"confidence": 0.77
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"scenario": "hold the rim to steady the bin during loading or unloading",
|
| 56 |
+
"confidence": 0.74
|
| 57 |
+
}
|
| 58 |
+
],
|
| 59 |
+
"functional_labels": [
|
| 60 |
+
"stiffen the opening",
|
| 61 |
+
"provide an upper grip edge",
|
| 62 |
+
"define the top opening",
|
| 63 |
+
"reinforce the container"
|
| 64 |
+
],
|
| 65 |
+
"semantic_description": "Wide rectangular sage-green plastic rim with a matte finish, smooth hard edges, and a slightly thickened lip running around the top opening.",
|
| 66 |
+
"id": 4,
|
| 67 |
+
"grasp_group": {
|
| 68 |
+
"grasp_74": {
|
| 69 |
+
"confidence": 0.9759949445724487,
|
| 70 |
+
"position": [
|
| 71 |
+
-0.11841090582311153,
|
| 72 |
+
-0.02751075298874639,
|
| 73 |
+
0.19507645815610886
|
| 74 |
+
],
|
| 75 |
+
"orientation": {
|
| 76 |
+
"w": 0.05516940674913538,
|
| 77 |
+
"xyz": [
|
| 78 |
+
0.04416647779471027,
|
| 79 |
+
0.9974693174710335,
|
| 80 |
+
-0.007785852684651975
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
"grasp_78": {
|
| 85 |
+
"confidence": 0.9730409979820251,
|
| 86 |
+
"position": [
|
| 87 |
+
-0.12567702494561672,
|
| 88 |
+
0.00870213090092875,
|
| 89 |
+
0.19211848825216293
|
| 90 |
+
],
|
| 91 |
+
"orientation": {
|
| 92 |
+
"w": 0.08749342084118056,
|
| 93 |
+
"xyz": [
|
| 94 |
+
0.02234863859222204,
|
| 95 |
+
0.995024689718319,
|
| 96 |
+
0.04208689241966729
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
}
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"part_name": "side handle cutout",
|
| 104 |
+
"mask_color": "Red",
|
| 105 |
+
"graspable": true,
|
| 106 |
+
"grasp_scenarios": [
|
| 107 |
+
{
|
| 108 |
+
"scenario": "insert fingers or gripper into the side handle cutout to carry the bin",
|
| 109 |
+
"confidence": 0.94
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"scenario": "pull the bin forward using the handle opening",
|
| 113 |
+
"confidence": 0.91
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"scenario": "hold the handle cutout to control orientation while moving the bin",
|
| 117 |
+
"confidence": 0.85
|
| 118 |
+
}
|
| 119 |
+
],
|
| 120 |
+
"functional_labels": [
|
| 121 |
+
"provide a carrying grip",
|
| 122 |
+
"enable pulling",
|
| 123 |
+
"assist repositioning",
|
| 124 |
+
"improve handling control"
|
| 125 |
+
],
|
| 126 |
+
"semantic_description": "Oblong recessed handle opening on a short side just below the rim, molded into the same sage-green plastic with smooth hard edges and sized for a secure handhold.",
|
| 127 |
+
"id": 0,
|
| 128 |
+
"grasp_group": {
|
| 129 |
+
"grasp_16": {
|
| 130 |
+
"confidence": 0.9006131291389465,
|
| 131 |
+
"position": [
|
| 132 |
+
-0.10652800463140011,
|
| 133 |
+
0.01065312689752318,
|
| 134 |
+
0.17398469895124435
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
+
"w": 0.003152289613341732,
|
| 138 |
+
"xyz": [
|
| 139 |
+
-0.0436843839407653,
|
| 140 |
+
0.9979923044647482,
|
| 141 |
+
-0.04575038687323904
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"part_name": "decorative upper exterior band",
|
| 149 |
+
"mask_color": "Yellow",
|
| 150 |
+
"graspable": false,
|
| 151 |
+
"grasp_scenarios": [],
|
| 152 |
+
"functional_labels": [
|
| 153 |
+
"decorate the exterior",
|
| 154 |
+
"visually distinguish the bin",
|
| 155 |
+
"cover the upper outer side band"
|
| 156 |
+
],
|
| 157 |
+
"semantic_description": "White floral-patterned decorative band on the upper exterior side walls just below the top rim, appearing as a smooth printed plastic surface with ornamental motifs.",
|
| 158 |
+
"id": 3,
|
| 159 |
+
"grasp_group": {}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "front rim subsection",
|
| 163 |
+
"mask_color": "Green",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "pinch this exposed rim subsection as part of a top-edge grasp",
|
| 168 |
+
"confidence": 0.58
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "use this rim area to steady the bin from above",
|
| 172 |
+
"confidence": 0.55
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"functional_labels": [
|
| 176 |
+
"continue the top rim structure",
|
| 177 |
+
"reinforce a local section of the opening",
|
| 178 |
+
"provide part of the upper grip edge"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Small visible subsection of the sage-green top rim along one side, matching the same matte hard plastic finish and smooth texture as the rest of the rim.",
|
| 181 |
+
"id": 1,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_20": {
|
| 184 |
+
"confidence": 0.9697499871253967,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.12869015894830227,
|
| 187 |
+
0.016056200402090326,
|
| 188 |
+
0.18650788813829422
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.05866514785176764,
|
| 192 |
+
"xyz": [
|
| 193 |
+
0.03796994735016052,
|
| 194 |
+
0.9975190068702978,
|
| 195 |
+
0.008515542158384614
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_22": {
|
| 200 |
+
"confidence": 0.9683268666267395,
|
| 201 |
+
"position": [
|
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|
dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:fc8aca334274ea1ce8a5cbc07668077713cc80f219b7eccb0c4b612d445f6701
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| 3 |
+
size 3786796
|
dataset/kitchen_supplies/storage/03f00fd047c259159086bbf3bf5003f1/storage_bin_110.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>
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| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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