Add asset bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731
Browse files
.gitattributes
CHANGED
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@@ -6042,3 +6042,4 @@ dataset/bedroom_supplies/storage/6242bd48fde35edab0bb9bcb342411eb/affordance/mes
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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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| 6044 |
dataset/bedroom_supplies/storage/633b06d7740754c4b95980a0fdca9e96/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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| 6044 |
dataset/bedroom_supplies/storage/633b06d7740754c4b95980a0fdca9e96/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6045 |
+
dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,441 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base platform",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base platform from opposite sides to lift and reposition the stand",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base platform to stabilize the stand while placing or removing a phone/device",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide the main footprint",
|
| 19 |
+
"support the entire stand on a flat surface",
|
| 20 |
+
"improve stability against tipping"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Broad light gray square base with rounded corners, matte smooth finish, and low flat profile at the bottom of the stand.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_16": {
|
| 26 |
+
"confidence": 0.3178945779800415,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.0121701642528933,
|
| 29 |
+
0.1023344876266492,
|
| 30 |
+
-0.08370727329747751
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.8786323393746222,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.4630704566745137,
|
| 36 |
+
0.10705747153679801,
|
| 37 |
+
-0.04593105864754016
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"part_name": "rear support plate",
|
| 45 |
+
"mask_color": "Yellow",
|
| 46 |
+
"graspable": true,
|
| 47 |
+
"grasp_scenarios": [
|
| 48 |
+
{
|
| 49 |
+
"scenario": "grasp the upper support plate at the sides to reposition the stand",
|
| 50 |
+
"confidence": 0.62
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"scenario": "hold the support plate while adjusting the stand orientation",
|
| 54 |
+
"confidence": 0.57
|
| 55 |
+
}
|
| 56 |
+
],
|
| 57 |
+
"functional_labels": [
|
| 58 |
+
"support the back of the phone or device",
|
| 59 |
+
"provide the main angled contact surface",
|
| 60 |
+
"help define the viewing angle"
|
| 61 |
+
],
|
| 62 |
+
"semantic_description": "Tall light gray rounded-rectangle plate with a matte smooth surface, mounted at an angle above the base and serving as the main backrest.",
|
| 63 |
+
"id": 3,
|
| 64 |
+
"grasp_group": {
|
| 65 |
+
"grasp_20": {
|
| 66 |
+
"confidence": 0.8887198567390442,
|
| 67 |
+
"position": [
|
| 68 |
+
-0.041849974881188245,
|
| 69 |
+
0.0029780423756164964,
|
| 70 |
+
0.13809579581720755
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
+
"w": 0.12614510556312575,
|
| 74 |
+
"xyz": [
|
| 75 |
+
-0.6679714031046461,
|
| 76 |
+
0.7239512396145616,
|
| 77 |
+
-0.11745730985093099
|
| 78 |
+
]
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"grasp_21": {
|
| 82 |
+
"confidence": 0.8874308466911316,
|
| 83 |
+
"position": [
|
| 84 |
+
-0.06203246895529446,
|
| 85 |
+
0.02508749198386795,
|
| 86 |
+
0.129628240771126
|
| 87 |
+
],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.24426577200612407,
|
| 90 |
+
"xyz": [
|
| 91 |
+
0.6989870169320288,
|
| 92 |
+
0.6589257066558617,
|
| 93 |
+
0.1325454484121934
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"grasp_22": {
|
| 98 |
+
"confidence": 0.8730351328849792,
|
| 99 |
+
"position": [
|
| 100 |
+
-0.07891567457772908,
|
| 101 |
+
-0.01127271689256304,
|
| 102 |
+
0.11984173179371282
|
| 103 |
+
],
|
| 104 |
+
"orientation": {
|
| 105 |
+
"w": 0.2831504180867616,
|
| 106 |
+
"xyz": [
|
| 107 |
+
-0.6723478358372064,
|
| 108 |
+
0.6434114933120383,
|
| 109 |
+
-0.23193938573750225
|
| 110 |
+
]
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"grasp_23": {
|
| 114 |
+
"confidence": 0.8500586152076721,
|
| 115 |
+
"position": [
|
| 116 |
+
-0.0659996684298676,
|
| 117 |
+
-0.0004994780210836325,
|
| 118 |
+
0.12455210805637762
|
| 119 |
+
],
|
| 120 |
+
"orientation": {
|
| 121 |
+
"w": 0.21236924084401654,
|
| 122 |
+
"xyz": [
|
| 123 |
+
-0.6762288752017358,
|
| 124 |
+
0.6746049472039578,
|
| 125 |
+
-0.20620858152530153
|
| 126 |
+
]
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"grasp_24": {
|
| 130 |
+
"confidence": 0.8439737558364868,
|
| 131 |
+
"position": [
|
| 132 |
+
-0.04677174274183926,
|
| 133 |
+
-0.016237801497481996,
|
| 134 |
+
0.14127510756952688
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
+
"w": 0.1576918390935966,
|
| 138 |
+
"xyz": [
|
| 139 |
+
-0.7247055605723919,
|
| 140 |
+
0.6646161551666386,
|
| 141 |
+
-0.09066697662461656
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"grasp_25": {
|
| 146 |
+
"confidence": 0.8277104496955872,
|
| 147 |
+
"position": [
|
| 148 |
+
-0.04907850954987225,
|
| 149 |
+
-0.03260775338640087,
|
| 150 |
+
0.14129869610769674
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
+
"w": 0.22376483310991488,
|
| 154 |
+
"xyz": [
|
| 155 |
+
-0.723271251674606,
|
| 156 |
+
0.6523838822588727,
|
| 157 |
+
-0.034688126688851725
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"grasp_26": {
|
| 162 |
+
"confidence": 0.8245254158973694,
|
| 163 |
+
"position": [
|
| 164 |
+
-0.08137631077624974,
|
| 165 |
+
-0.010220622269116575,
|
| 166 |
+
0.12217681825859472
|
| 167 |
+
],
|
| 168 |
+
"orientation": {
|
| 169 |
+
"w": 0.25234272056133267,
|
| 170 |
+
"xyz": [
|
| 171 |
+
0.6455746701446625,
|
| 172 |
+
0.6658960175253537,
|
| 173 |
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0.27593294564293935
|
| 174 |
+
]
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
"grasp_27": {
|
| 178 |
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],
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]
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}
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| 369 |
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}
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| 370 |
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},
|
| 371 |
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{
|
| 372 |
+
"part_name": "front retaining lip",
|
| 373 |
+
"mask_color": "Cyan",
|
| 374 |
+
"graspable": false,
|
| 375 |
+
"grasp_scenarios": [],
|
| 376 |
+
"functional_labels": [
|
| 377 |
+
"retain the lower edge of the supported device",
|
| 378 |
+
"provide a front stop",
|
| 379 |
+
"help prevent the device from sliding off"
|
| 380 |
+
],
|
| 381 |
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"semantic_description": "Narrow light gray ledge running along the lower front edge of the angled support plate, with a smooth matte finish and elongated profile.",
|
| 382 |
+
"id": 6,
|
| 383 |
+
"grasp_group": {}
|
| 384 |
+
},
|
| 385 |
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{
|
| 386 |
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"part_name": "support column",
|
| 387 |
+
"mask_color": "Pink",
|
| 388 |
+
"graspable": true,
|
| 389 |
+
"grasp_scenarios": [
|
| 390 |
+
{
|
| 391 |
+
"scenario": "grasp the central column from the sides to lift the stand",
|
| 392 |
+
"confidence": 0.78
|
| 393 |
+
},
|
| 394 |
+
{
|
| 395 |
+
"scenario": "hold the column to steady the stand during placement or adjustment",
|
| 396 |
+
"confidence": 0.8
|
| 397 |
+
}
|
| 398 |
+
],
|
| 399 |
+
"functional_labels": [
|
| 400 |
+
"connect the base to the support plate",
|
| 401 |
+
"provide structural support",
|
| 402 |
+
"maintain the stand geometry",
|
| 403 |
+
"carry branding/markings"
|
| 404 |
+
],
|
| 405 |
+
"semantic_description": "Medium-sized light gray central upright column with a matte smooth hard surface, rectangular form, and centered position between the base and angled plate.",
|
| 406 |
+
"id": 8,
|
| 407 |
+
"grasp_group": {}
|
| 408 |
+
},
|
| 409 |
+
{
|
| 410 |
+
"part_name": "hinge collar",
|
| 411 |
+
"mask_color": "Purple",
|
| 412 |
+
"graspable": false,
|
| 413 |
+
"grasp_scenarios": [],
|
| 414 |
+
"functional_labels": [
|
| 415 |
+
"connect the support column to the base region",
|
| 416 |
+
"house the pivot or joint interface",
|
| 417 |
+
"reinforce the lower joint"
|
| 418 |
+
],
|
| 419 |
+
"semantic_description": "Small circular ridged light gray collar at the lower joint around the bottom of the support column, with a textured ring-like appearance.",
|
| 420 |
+
"id": 5,
|
| 421 |
+
"grasp_group": {}
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
"part_name": "logo badge",
|
| 425 |
+
"mask_color": "Orange",
|
| 426 |
+
"graspable": false,
|
| 427 |
+
"grasp_scenarios": [],
|
| 428 |
+
"functional_labels": [
|
| 429 |
+
"indicate branding",
|
| 430 |
+
"provide visual identification"
|
| 431 |
+
],
|
| 432 |
+
"semantic_description": "Tiny orange rectangular badge on the front of the central support column, appearing as a small smooth inset or printed branding mark.",
|
| 433 |
+
"id": 4,
|
| 434 |
+
"grasp_group": {}
|
| 435 |
+
}
|
| 436 |
+
],
|
| 437 |
+
"quality_check": {
|
| 438 |
+
"success": false,
|
| 439 |
+
"message": "Backrest/lip mask colors are swapped; base and backrest graspability/confidence are overstated."
|
| 440 |
+
}
|
| 441 |
+
}
|
dataset/bedroom_supplies/storage/643cc9885ba958a1b9ed935c4eafc731/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:31af105936d4c0e97e9febaf136d61863341aeb230a6a0a5210688f5da89250f
|
| 3 |
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size 3785392
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