xinjjj commited on
Commit
b3cb70b
·
verified ·
1 Parent(s): 39312f6

Add asset bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd

Browse files
.gitattributes CHANGED
@@ -6047,3 +6047,4 @@ dataset/bedroom_supplies/storage/663158968e3f5900af1f6e7cecef24c7/affordance/mes
6047
  dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6048
  dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6049
  dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
6047
  dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6048
  dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6049
  dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
6050
+ dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,498 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "basket body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side walls to pick up or reposition the basket",
10
+ "confidence": 0.77
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the basket while loading or unloading contents",
14
+ "confidence": 0.83
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain items",
19
+ "form the main structure",
20
+ "support the handle attachments",
21
+ "provide side gripping surface"
22
+ ],
23
+ "semantic_description": "Large tan leather or faux-leather body with a matte-to-soft sheen finish, smooth slightly pebbled texture, rounded square open-top shape, and visible stitched seams forming the basket walls.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9384630918502808,
28
+ "position": [
29
+ -0.004305046750232577,
30
+ 0.12037275778129697,
31
+ 0.10296438932709862
32
+ ],
33
+ "orientation": {
34
+ "w": 0.25202503424388106,
35
+ "xyz": [
36
+ 0.6875360796494455,
37
+ 0.6726195356999944,
38
+ -0.10658555947859853
39
+ ]
40
+ }
41
+ },
42
+ "grasp_3": {
43
+ "confidence": 0.9171549081802368,
44
+ "position": [
45
+ 0.04774171928875148,
46
+ -0.11723467661067843,
47
+ 0.10007912963919807
48
+ ],
49
+ "orientation": {
50
+ "w": 0.2760459237181732,
51
+ "xyz": [
52
+ -0.8797954101631084,
53
+ 0.3728818142849825,
54
+ 0.10352698599905423
55
+ ]
56
+ }
57
+ },
58
+ "grasp_4": {
59
+ "confidence": 0.9161163568496704,
60
+ "position": [
61
+ 0.013313460862264037,
62
+ -0.11483456147834659,
63
+ 0.10698287487321068
64
+ ],
65
+ "orientation": {
66
+ "w": 0.1514843232855538,
67
+ "xyz": [
68
+ -0.6433856496889963,
69
+ -0.7406684620981441,
70
+ -0.12048914816760707
71
+ ]
72
+ }
73
+ },
74
+ "grasp_5": {
75
+ "confidence": 0.909928560256958,
76
+ "position": [
77
+ -0.03270405833609402,
78
+ -0.12752201361581683,
79
+ 0.08802593797736336
80
+ ],
81
+ "orientation": {
82
+ "w": 0.2925799489007676,
83
+ "xyz": [
84
+ -0.806634772381271,
85
+ -0.4940142299319704,
86
+ -0.14031129003526965
87
+ ]
88
+ }
89
+ },
90
+ "grasp_6": {
91
+ "confidence": 0.9030095338821411,
92
+ "position": [
93
+ -0.0006894257385283709,
94
+ -0.1262260745279491,
95
+ 0.09671888798766304
96
+ ],
97
+ "orientation": {
98
+ "w": 0.24728377357576772,
99
+ "xyz": [
100
+ -0.7202333717363956,
101
+ 0.6386979079666181,
102
+ 0.11036126096786363
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9026527404785156,
108
+ "position": [
109
+ -0.004420428769662976,
110
+ -0.13914618594571948,
111
+ 0.08716932237439323
112
+ ],
113
+ "orientation": {
114
+ "w": 0.1666242768005745,
115
+ "xyz": [
116
+ -0.67239075635374,
117
+ 0.6624099332185395,
118
+ 0.2852018610110047
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9018383622169495,
124
+ "position": [
125
+ -0.03461368312127888,
126
+ -0.1110808695666492,
127
+ 0.10743727088265587
128
+ ],
129
+ "orientation": {
130
+ "w": 0.11940787131491987,
131
+ "xyz": [
132
+ -0.7738403373786523,
133
+ -0.5938151063551413,
134
+ -0.18519317476128838
135
+ ]
136
+ }
137
+ },
138
+ "grasp_10": {
139
+ "confidence": 0.901528000831604,
140
+ "position": [
141
+ 0.05178327555768192,
142
+ -0.12423086119815707,
143
+ 0.08305146843486
144
+ ],
145
+ "orientation": {
146
+ "w": 0.324065342609863,
147
+ "xyz": [
148
+ -0.8475171765746228,
149
+ 0.3813230220267262,
150
+ 0.17688708828667257
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.9005836248397827,
156
+ "position": [
157
+ 0.019001035718247294,
158
+ -0.12552351457998157,
159
+ 0.09491608590178657
160
+ ],
161
+ "orientation": {
162
+ "w": 0.3006363502292287,
163
+ "xyz": [
164
+ -0.711910504009069,
165
+ -0.6343601334264584,
166
+ -0.01970888940473427
167
+ ]
168
+ }
169
+ },
170
+ "grasp_12": {
171
+ "confidence": 0.8984097242355347,
172
+ "position": [
173
+ 0.044679299695417285,
174
+ -0.10728523833677173,
175
+ 0.10277848244004417
176
+ ],
177
+ "orientation": {
178
+ "w": 0.22688071374645244,
179
+ "xyz": [
180
+ -0.8681185356902806,
181
+ 0.43289755301601457,
182
+ 0.08657400483753921
183
+ ]
184
+ }
185
+ },
186
+ "grasp_14": {
187
+ "confidence": 0.8961349129676819,
188
+ "position": [
189
+ -0.008711012313142419,
190
+ -0.14074509544298053,
191
+ 0.08150521964125801
192
+ ],
193
+ "orientation": {
194
+ "w": 0.3593273265763301,
195
+ "xyz": [
196
+ -0.7402728440564084,
197
+ -0.5513467907928409,
198
+ -0.13746528656566162
199
+ ]
200
+ }
201
+ },
202
+ "grasp_15": {
203
+ "confidence": 0.8961098790168762,
204
+ "position": [
205
+ 0.030158544657751918,
206
+ -0.1347193936817348,
207
+ 0.0897648587852018
208
+ ],
209
+ "orientation": {
210
+ "w": 0.25335936988500946,
211
+ "xyz": [
212
+ -0.7767678078408451,
213
+ 0.5402360733305647,
214
+ 0.2014591458980499
215
+ ]
216
+ }
217
+ },
218
+ "grasp_16": {
219
+ "confidence": 0.8822291493415833,
220
+ "position": [
221
+ -0.04461986129172146,
222
+ -0.10831167502328753,
223
+ 0.10569960177235771
224
+ ],
225
+ "orientation": {
226
+ "w": 0.17187579693120672,
227
+ "xyz": [
228
+ -0.4904833022384548,
229
+ 0.8453608689535681,
230
+ 0.12349025020863634
231
+ ]
232
+ }
233
+ },
234
+ "grasp_19": {
235
+ "confidence": 0.864997923374176,
236
+ "position": [
237
+ -0.022138674976304173,
238
+ -0.11203966988250613,
239
+ 0.10476003885560203
240
+ ],
241
+ "orientation": {
242
+ "w": 0.028681205322677785,
243
+ "xyz": [
244
+ -0.4628177187226807,
245
+ 0.8389809069358342,
246
+ 0.2847598733928246
247
+ ]
248
+ }
249
+ }
250
+ }
251
+ },
252
+ {
253
+ "part_name": "rim of basket",
254
+ "mask_color": "Green",
255
+ "graspable": true,
256
+ "grasp_scenarios": [
257
+ {
258
+ "scenario": "pinch the upper rim to steady the basket during placement",
259
+ "confidence": 0.68
260
+ },
261
+ {
262
+ "scenario": "briefly grasp the rim edge to pull or reorient the basket on a surface",
263
+ "confidence": 0.61
264
+ }
265
+ ],
266
+ "functional_labels": [
267
+ "reinforce opening",
268
+ "maintain basket shape",
269
+ "provide edge support",
270
+ "guide access to contents"
271
+ ],
272
+ "semantic_description": "Narrow tan bound rim around the opening, likely leather-wrapped with a smooth finished edge and visible stitching, forming a rounded square lip at the top of the basket.",
273
+ "id": 1,
274
+ "grasp_group": {}
275
+ },
276
+ {
277
+ "part_name": "side seam panels",
278
+ "mask_color": "Blue",
279
+ "graspable": false,
280
+ "grasp_scenarios": [],
281
+ "functional_labels": [
282
+ "join body panels",
283
+ "reinforce corners",
284
+ "maintain shape",
285
+ "provide structural stitching lines"
286
+ ],
287
+ "semantic_description": "Thin vertical and diagonal seam lines or narrow strips along the basket sides and corners, matching the tan leather appearance with stitched edges and a narrow raised profile that mainly serves construction and reinforcement.",
288
+ "id": 2,
289
+ "grasp_group": {}
290
+ },
291
+ {
292
+ "part_name": "handle tab",
293
+ "mask_color": "Yellow",
294
+ "graspable": false,
295
+ "grasp_scenarios": [],
296
+ "functional_labels": [
297
+ "anchor the handle",
298
+ "connect handle to basket body",
299
+ "reinforce attachment point"
300
+ ],
301
+ "semantic_description": "Small rounded tan leather tab with stitched border at the handle connection point, smooth and slightly padded-looking, positioned near the upper side of the basket as a handle anchor.",
302
+ "id": 3,
303
+ "grasp_group": {}
304
+ },
305
+ {
306
+ "part_name": "carry handle",
307
+ "mask_color": "Orange",
308
+ "graspable": true,
309
+ "grasp_scenarios": [
310
+ {
311
+ "scenario": "grasp the handle arch to lift and carry the basket",
312
+ "confidence": 0.97
313
+ },
314
+ {
315
+ "scenario": "hold the handle to suspend the basket while transporting contents",
316
+ "confidence": 0.95
317
+ },
318
+ {
319
+ "scenario": "grasp the handle to reposition the basket from above",
320
+ "confidence": 0.9
321
+ }
322
+ ],
323
+ "functional_labels": [
324
+ "carry the basket",
325
+ "lift from above",
326
+ "suspend the load",
327
+ "provide a primary grip"
328
+ ],
329
+ "semantic_description": "Arched tan leather strap handle with visible stitching, smooth slightly glossy finish, firm but flexible texture, and medium width spanning across the basket top between opposite sides.",
330
+ "id": 4,
331
+ "grasp_group": {
332
+ "grasp_41": {
333
+ "confidence": 0.8801904916763306,
334
+ "position": [
335
+ 0.07403158093802631,
336
+ 0.08147734450176358,
337
+ 0.12364775240712333
338
+ ],
339
+ "orientation": {
340
+ "w": 0.471963652648875,
341
+ "xyz": [
342
+ 0.8784576423642706,
343
+ -0.07366000700344655,
344
+ -0.011691215436880604
345
+ ]
346
+ }
347
+ },
348
+ "grasp_44": {
349
+ "confidence": 0.7559797167778015,
350
+ "position": [
351
+ 0.07332929666154087,
352
+ 0.087577432859689,
353
+ 0.10023509264283348
354
+ ],
355
+ "orientation": {
356
+ "w": 0.061083244753913406,
357
+ "xyz": [
358
+ -0.02059575351386276,
359
+ -0.8507919646594723,
360
+ 0.5215339730241975
361
+ ]
362
+ }
363
+ },
364
+ "grasp_45": {
365
+ "confidence": 0.7247341871261597,
366
+ "position": [
367
+ -0.03547934745438397,
368
+ 0.08491737442091107,
369
+ 0.12040145993523765
370
+ ],
371
+ "orientation": {
372
+ "w": 0.500837899203927,
373
+ "xyz": [
374
+ 0.8441989567897433,
375
+ 0.03950812601512288,
376
+ -0.18689202244846978
377
+ ]
378
+ }
379
+ },
380
+ "grasp_47": {
381
+ "confidence": 0.6704578995704651,
382
+ "position": [
383
+ -0.05722826276905835,
384
+ -0.07415407849475741,
385
+ 0.1331368491082685
386
+ ],
387
+ "orientation": {
388
+ "w": 0.41643635731494943,
389
+ "xyz": [
390
+ -0.8859198042776927,
391
+ 0.13964803389105035,
392
+ 0.1490814788134151
393
+ ]
394
+ }
395
+ },
396
+ "grasp_48": {
397
+ "confidence": 0.5891902446746826,
398
+ "position": [
399
+ -0.028654578374698758,
400
+ -0.06392768723890185,
401
+ 0.15447191447310615
402
+ ],
403
+ "orientation": {
404
+ "w": 0.4879841294352766,
405
+ "xyz": [
406
+ -0.23648816196644584,
407
+ 0.7974516389456711,
408
+ 0.2646048416259425
409
+ ]
410
+ }
411
+ },
412
+ "grasp_56": {
413
+ "confidence": 0.7884351015090942,
414
+ "position": [
415
+ 0.10157093103043735,
416
+ 0.07761132018640637,
417
+ 0.10587568879418541
418
+ ],
419
+ "orientation": {
420
+ "w": 0.4606417312550045,
421
+ "xyz": [
422
+ 0.8659669077597085,
423
+ -0.03444103547682831,
424
+ -0.19163591825846452
425
+ ]
426
+ }
427
+ },
428
+ "grasp_57": {
429
+ "confidence": 0.7709870934486389,
430
+ "position": [
431
+ 0.029327935306355357,
432
+ -0.07044582022354007,
433
+ 0.16718251556449104
434
+ ],
435
+ "orientation": {
436
+ "w": 0.34949829257845755,
437
+ "xyz": [
438
+ -0.8562811292703761,
439
+ -0.30337217663364,
440
+ -0.2293444867110605
441
+ ]
442
+ }
443
+ },
444
+ "grasp_58": {
445
+ "confidence": 0.6262367367744446,
446
+ "position": [
447
+ 0.08569764043204486,
448
+ 0.06209128396585584,
449
+ 0.15963972658209968
450
+ ],
451
+ "orientation": {
452
+ "w": 0.14457813456653357,
453
+ "xyz": [
454
+ 0.6540302453067257,
455
+ 0.4567096549191897,
456
+ -0.5854552863651334
457
+ ]
458
+ }
459
+ },
460
+ "grasp_59": {
461
+ "confidence": 0.5955622792243958,
462
+ "position": [
463
+ -0.0542049549985677,
464
+ -0.06967871589586139,
465
+ 0.13205706626467872
466
+ ],
467
+ "orientation": {
468
+ "w": 0.372648209846721,
469
+ "xyz": [
470
+ -0.9138264669220005,
471
+ 0.11801122048760637,
472
+ 0.11012652673136386
473
+ ]
474
+ }
475
+ }
476
+ }
477
+ },
478
+ {
479
+ "part_name": "upper trim band",
480
+ "mask_color": "Cyan",
481
+ "graspable": false,
482
+ "grasp_scenarios": [],
483
+ "functional_labels": [
484
+ "reinforce upper wall",
485
+ "finish the edge transition",
486
+ "add structural support",
487
+ "protect the upper body seam"
488
+ ],
489
+ "semantic_description": "Thin tan trim band running just below the rim, with a smooth stitched finish and narrow continuous profile encircling the upper basket exterior.",
490
+ "id": 6,
491
+ "grasp_group": {}
492
+ }
493
+ ],
494
+ "quality_check": {
495
+ "success": true,
496
+ "message": "YES"
497
+ }
498
+ }
dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2a37e79329512f63888ac5fbabbd5fff073a598fb5f608d4f1b18ad752a8aa5
3
+ size 3792424