Add asset bedroom_supplies/storage/d769955178b458758cf90118a910ca5f
Browse files
.gitattributes
CHANGED
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@@ -6055,4 +6055,4 @@ dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/affordance/mes
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| 6055 |
dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/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/
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| 6055 |
dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/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/d769955178b458758cf90118a910ca5f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/d769955178b458758cf90118a910ca5f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upright cradle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upright cradle from the sides to pick up the remote holder",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upright cradle to reposition or rotate the stand during placement",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"hold a remote upright",
|
| 19 |
+
"provide a back support surface",
|
| 20 |
+
"form the main receiving pocket",
|
| 21 |
+
"position stored items at an angle"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large light-to-medium brown wooden cradle with a smooth matte finish and hard polished texture, shaped as a tall curved back with a hollowed pocket rising from the base and showing visible wood grain.",
|
| 24 |
+
"id": 0,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_2": {
|
| 27 |
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"confidence": 0.9865788817405701,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.6944729100747776,
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| 35 |
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"xyz": [
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| 36 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
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| 41 |
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},
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| 42 |
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"grasp_4": {
|
| 43 |
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"confidence": 0.9855324625968933,
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| 44 |
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"position": [
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| 46 |
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| 48 |
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],
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| 49 |
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"orientation": {
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"xyz": [
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| 54 |
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| 55 |
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]
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| 56 |
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}
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| 57 |
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},
|
| 58 |
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"grasp_6": {
|
| 59 |
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"confidence": 0.9848606586456299,
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| 60 |
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"position": [
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| 62 |
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| 63 |
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| 64 |
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],
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"orientation": {
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| 71 |
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|
| 72 |
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}
|
| 73 |
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},
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| 74 |
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"grasp_7": {
|
| 75 |
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"confidence": 0.9847250580787659,
|
| 76 |
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"position": [
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| 78 |
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| 80 |
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"orientation": {
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| 83 |
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| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_8": {
|
| 91 |
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"confidence": 0.9845553040504456,
|
| 92 |
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"position": [
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| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
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"w": 0.3883670593685458,
|
| 99 |
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"xyz": [
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| 103 |
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| 104 |
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}
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| 105 |
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},
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| 106 |
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"grasp_9": {
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| 107 |
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"confidence": 0.9837681651115417,
|
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"position": [
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|
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|
| 112 |
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],
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"orientation": {
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| 119 |
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]
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| 120 |
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| 121 |
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},
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| 122 |
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"grasp_11": {
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| 123 |
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| 124 |
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| 125 |
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| 128 |
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},
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"grasp_13": {
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| 139 |
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| 140 |
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| 151 |
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}
|
| 153 |
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},
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| 154 |
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| 155 |
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| 171 |
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"grasp_17": {
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|
| 214 |
+
-0.136598704403121
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_18": {
|
| 219 |
+
"confidence": 0.9827209115028381,
|
| 220 |
+
"position": [
|
| 221 |
+
0.07449720520526171,
|
| 222 |
+
-0.002748220431385562,
|
| 223 |
+
0.07304762722924352
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.3868038004409553,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.5913725449515909,
|
| 229 |
+
-0.5915035526561813,
|
| 230 |
+
-0.3883102886056824
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_19": {
|
| 235 |
+
"confidence": 0.9823505878448486,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.03406993951648474,
|
| 238 |
+
-0.09957318493979983,
|
| 239 |
+
0.0398273398168385
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.19177297703963855,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.05884267479174843,
|
| 245 |
+
0.7056647841673569,
|
| 246 |
+
0.6795571184872868
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "base platform",
|
| 254 |
+
"mask_color": "Green",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp opposite edges of the base platform to lift the remote holder",
|
| 259 |
+
"confidence": 0.83
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "pinch the base edge to slide or reposition the holder on a surface",
|
| 263 |
+
"confidence": 0.71
|
| 264 |
+
}
|
| 265 |
+
],
|
| 266 |
+
"functional_labels": [
|
| 267 |
+
"support the whole holder",
|
| 268 |
+
"provide a stable footprint",
|
| 269 |
+
"rest on a tabletop",
|
| 270 |
+
"anchor the cradle"
|
| 271 |
+
],
|
| 272 |
+
"semantic_description": "Broad rectangular wooden base in light brown with rounded corners, a smooth matte finish, hard polished feel, and visible linear wood grain, located at the bottom as the largest footprint part.",
|
| 273 |
+
"id": 1,
|
| 274 |
+
"grasp_group": {
|
| 275 |
+
"grasp_31": {
|
| 276 |
+
"confidence": 0.4657510221004486,
|
| 277 |
+
"position": [
|
| 278 |
+
-0.10350328963249922,
|
| 279 |
+
-0.0008516694942954928,
|
| 280 |
+
-0.05787913082167506
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.6135686821703682,
|
| 284 |
+
"xyz": [
|
| 285 |
+
0.3959059738537495,
|
| 286 |
+
0.4188274754040482,
|
| 287 |
+
0.5397920692019323
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_36": {
|
| 292 |
+
"confidence": 0.5837584137916565,
|
| 293 |
+
"position": [
|
| 294 |
+
-0.018791847862303257,
|
| 295 |
+
-0.11581124106305651,
|
| 296 |
+
-0.02840889198705554
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.7135713217546079,
|
| 300 |
+
"xyz": [
|
| 301 |
+
-0.6356913004306664,
|
| 302 |
+
-0.10353378069882835,
|
| 303 |
+
-0.27566881503056695
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
}
|
| 307 |
+
}
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"part_name": "bottom pad",
|
| 311 |
+
"mask_color": "Blue",
|
| 312 |
+
"graspable": false,
|
| 313 |
+
"grasp_scenarios": [],
|
| 314 |
+
"functional_labels": [
|
| 315 |
+
"add friction against the table",
|
| 316 |
+
"protect the resting surface",
|
| 317 |
+
"stabilize the holder",
|
| 318 |
+
"reduce slipping"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Flat dark gray to black pad on the underside of the base, likely rubber-like with a matte finish and slightly grippy smooth texture, spanning most of the bottom face.",
|
| 321 |
+
"id": 2,
|
| 322 |
+
"grasp_group": {}
|
| 323 |
+
},
|
| 324 |
+
{
|
| 325 |
+
"part_name": "front lip",
|
| 326 |
+
"mask_color": "Yellow",
|
| 327 |
+
"graspable": false,
|
| 328 |
+
"grasp_scenarios": [],
|
| 329 |
+
"functional_labels": [
|
| 330 |
+
"stop the remote from sliding out",
|
| 331 |
+
"retain stored items",
|
| 332 |
+
"support the lower end of the remote",
|
| 333 |
+
"define the pocket opening"
|
| 334 |
+
],
|
| 335 |
+
"semantic_description": "Small curved wooden lip in medium brown with a smooth matte finish and hard polished texture, positioned at the lower front edge of the cradle as a shallow retaining ledge.",
|
| 336 |
+
"id": 3,
|
| 337 |
+
"grasp_group": {}
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"part_name": "logo medallion",
|
| 341 |
+
"mask_color": "Orange",
|
| 342 |
+
"graspable": false,
|
| 343 |
+
"grasp_scenarios": [],
|
| 344 |
+
"functional_labels": [
|
| 345 |
+
"brand marking",
|
| 346 |
+
"visual decoration",
|
| 347 |
+
"indicate front orientation"
|
| 348 |
+
],
|
| 349 |
+
"semantic_description": "Small circular inset near the top front, tan-brown with a printed or engraved emblem, smooth matte finish, and flush hard surface that serves as a decorative badge.",
|
| 350 |
+
"id": 4,
|
| 351 |
+
"grasp_group": {}
|
| 352 |
+
}
|
| 353 |
+
],
|
| 354 |
+
"quality_check": {
|
| 355 |
+
"success": true,
|
| 356 |
+
"message": "YES"
|
| 357 |
+
}
|
| 358 |
+
}
|
dataset/bedroom_supplies/storage/d769955178b458758cf90118a910ca5f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07fab3b3dd5ae49fae40ec79eedee5826910885cc704fef7c6073c33067c2602
|
| 3 |
+
size 3804892
|