Add asset bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2
Browse files
.gitattributes
CHANGED
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@@ -6066,3 +6066,4 @@ dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mes
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| 6066 |
dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6067 |
dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6068 |
dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6066 |
dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6067 |
dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6068 |
dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6069 |
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dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "basket interior",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"contain items",
|
| 10 |
+
"provide storage cavity",
|
| 11 |
+
"support contents from inside"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Smooth light brown inner bowl surface, likely woven wood or wicker with a matte finish and hard slightly textured feel, forming the medium-sized concave interior at the top opening.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "basket base",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the flat bottom to lift the empty basket from below",
|
| 24 |
+
"confidence": 0.48
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the bottom to stabilize the basket during placement",
|
| 28 |
+
"confidence": 0.63
|
| 29 |
+
}
|
| 30 |
+
],
|
| 31 |
+
"functional_labels": [
|
| 32 |
+
"support the basket",
|
| 33 |
+
"rest on flat surfaces",
|
| 34 |
+
"stabilize contents",
|
| 35 |
+
"provide bottom closure"
|
| 36 |
+
],
|
| 37 |
+
"semantic_description": "Flat circular light brown bottom panel, likely wicker or wood-based material with a matte finish and hard smooth feel, forming the broad underside of the basket.",
|
| 38 |
+
"id": 1,
|
| 39 |
+
"grasp_group": {
|
| 40 |
+
"grasp_1": {
|
| 41 |
+
"confidence": 0.5083412528038025,
|
| 42 |
+
"position": [
|
| 43 |
+
0.1004152130917646,
|
| 44 |
+
-0.11046035645995289,
|
| 45 |
+
-0.02615228993818164
|
| 46 |
+
],
|
| 47 |
+
"orientation": {
|
| 48 |
+
"w": 0.3403428036458699,
|
| 49 |
+
"xyz": [
|
| 50 |
+
-0.5571148916691571,
|
| 51 |
+
0.2756044790225668,
|
| 52 |
+
0.7055720690543467
|
| 53 |
+
]
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"grasp_2": {
|
| 57 |
+
"confidence": 0.47883176803588867,
|
| 58 |
+
"position": [
|
| 59 |
+
0.14497124968329445,
|
| 60 |
+
-0.020299623371101916,
|
| 61 |
+
-0.025694300886243582
|
| 62 |
+
],
|
| 63 |
+
"orientation": {
|
| 64 |
+
"w": 0.7651489649629778,
|
| 65 |
+
"xyz": [
|
| 66 |
+
-0.06220439524217302,
|
| 67 |
+
-0.6329039493035005,
|
| 68 |
+
-0.10054981643281016
|
| 69 |
+
]
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"grasp_13": {
|
| 73 |
+
"confidence": 0.38984692096710205,
|
| 74 |
+
"position": [
|
| 75 |
+
-0.13831794442376122,
|
| 76 |
+
-0.04799458442721516,
|
| 77 |
+
-0.01321730250492692
|
| 78 |
+
],
|
| 79 |
+
"orientation": {
|
| 80 |
+
"w": 0.7365339253713341,
|
| 81 |
+
"xyz": [
|
| 82 |
+
-0.1481531135959455,
|
| 83 |
+
0.6333309435417017,
|
| 84 |
+
0.18563498501494402
|
| 85 |
+
]
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"grasp_14": {
|
| 89 |
+
"confidence": 0.3896981477737427,
|
| 90 |
+
"position": [
|
| 91 |
+
0.14742201386252418,
|
| 92 |
+
0.013450748636387289,
|
| 93 |
+
-0.023430540692061186
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.7703398144002903,
|
| 97 |
+
"xyz": [
|
| 98 |
+
0.017583924883437744,
|
| 99 |
+
-0.6372934139880078,
|
| 100 |
+
0.011157079498201541
|
| 101 |
+
]
|
| 102 |
+
}
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"part_name": "basket wall",
|
| 108 |
+
"mask_color": "Blue",
|
| 109 |
+
"graspable": true,
|
| 110 |
+
"grasp_scenarios": [
|
| 111 |
+
{
|
| 112 |
+
"scenario": "grasp the side wall to pick up the empty basket",
|
| 113 |
+
"confidence": 0.82
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"scenario": "hold the side wall to reposition or rotate the basket",
|
| 117 |
+
"confidence": 0.86
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"scenario": "stabilize the basket by clamping opposite side walls",
|
| 121 |
+
"confidence": 0.79
|
| 122 |
+
}
|
| 123 |
+
],
|
| 124 |
+
"functional_labels": [
|
| 125 |
+
"enclose contents",
|
| 126 |
+
"provide main grasp surface",
|
| 127 |
+
"form basket structure",
|
| 128 |
+
"protect items at the sides"
|
| 129 |
+
],
|
| 130 |
+
"semantic_description": "Curved light brown woven side wall made of wicker or thin wood strips, with a matte finish and hard slightly rough texture, wrapping around the medium-sized basket body.",
|
| 131 |
+
"id": 2,
|
| 132 |
+
"grasp_group": {
|
| 133 |
+
"grasp_36": {
|
| 134 |
+
"confidence": 0.2574019134044647,
|
| 135 |
+
"position": [
|
| 136 |
+
0.03629223821917549,
|
| 137 |
+
0.03513312654104084,
|
| 138 |
+
-0.12405316671356559
|
| 139 |
+
],
|
| 140 |
+
"orientation": {
|
| 141 |
+
"w": 0.9799856012146434,
|
| 142 |
+
"xyz": [
|
| 143 |
+
0.07114520263937697,
|
| 144 |
+
-0.0006151760284002217,
|
| 145 |
+
-0.18591988358384204
|
| 146 |
+
]
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"grasp_37": {
|
| 150 |
+
"confidence": 0.24357183277606964,
|
| 151 |
+
"position": [
|
| 152 |
+
-0.14508702041348442,
|
| 153 |
+
0.016649336903356016,
|
| 154 |
+
0.013318693730980158
|
| 155 |
+
],
|
| 156 |
+
"orientation": {
|
| 157 |
+
"w": 0.11265624035564932,
|
| 158 |
+
"xyz": [
|
| 159 |
+
-0.7214026204510431,
|
| 160 |
+
-0.052291561398664754,
|
| 161 |
+
-0.6812873280208489
|
| 162 |
+
]
|
| 163 |
+
}
|
| 164 |
+
}
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"part_name": "basket rim",
|
| 169 |
+
"mask_color": "Yellow",
|
| 170 |
+
"graspable": true,
|
| 171 |
+
"grasp_scenarios": [
|
| 172 |
+
{
|
| 173 |
+
"scenario": "grasp the rim to lift the basket from the top edge",
|
| 174 |
+
"confidence": 0.88
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"scenario": "hold the rim to tilt or pour out contents",
|
| 178 |
+
"confidence": 0.84
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"scenario": "use the rim as a precise placement and stabilization grip",
|
| 182 |
+
"confidence": 0.8
|
| 183 |
+
}
|
| 184 |
+
],
|
| 185 |
+
"functional_labels": [
|
| 186 |
+
"reinforce opening",
|
| 187 |
+
"provide top grip",
|
| 188 |
+
"define basket opening",
|
| 189 |
+
"help pour or access contents"
|
| 190 |
+
],
|
| 191 |
+
"semantic_description": "Thick braided light brown rim of woven wicker with a matte finish and hard slightly rough texture, circling the top opening as a raised reinforced edge.",
|
| 192 |
+
"id": 3,
|
| 193 |
+
"grasp_group": {
|
| 194 |
+
"grasp_43": {
|
| 195 |
+
"confidence": 0.9013426899909973,
|
| 196 |
+
"position": [
|
| 197 |
+
-0.04890496836742386,
|
| 198 |
+
0.06366395892109722,
|
| 199 |
+
0.12194721261039376
|
| 200 |
+
],
|
| 201 |
+
"orientation": {
|
| 202 |
+
"w": 0.1312713868627442,
|
| 203 |
+
"xyz": [
|
| 204 |
+
-0.7429950565076995,
|
| 205 |
+
0.6394111014277286,
|
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dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/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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size 3782820
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