Add asset bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55
Browse files
.gitattributes
CHANGED
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@@ -5957,3 +5957,4 @@ dataset/bedroom_supplies/storage/09be02bd69765f71ab2762ce3d8df6ba/affordance/mes
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| 5957 |
dataset/bedroom_supplies/storage/0aa06ee6f4345435a9701fb8080158a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5958 |
dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5959 |
dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5957 |
dataset/bedroom_supplies/storage/0aa06ee6f4345435a9701fb8080158a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5958 |
dataset/bedroom_supplies/storage/0ccf1d32363754e68165dcdcb18422d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5959 |
dataset/bedroom_supplies/storage/0d530bf4e9705aafbb2e7437ed4e2db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5960 |
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dataset/bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,348 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open or close the box",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while positioning the box for inspection",
|
| 14 |
+
"confidence": 0.58
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the box",
|
| 19 |
+
"protect stored items",
|
| 20 |
+
"open for access",
|
| 21 |
+
"display interior branding"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large square lid at the top, with a white outer face and a white inner panel bordered by a light beige frame; smooth mostly matte-to-semi-gloss surfaces with black printed branding on the inside face.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9496724605560303,
|
| 28 |
+
"position": [
|
| 29 |
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-0.08983905054628849,
|
| 30 |
+
0.0012765145365847275,
|
| 31 |
+
0.19093547575175762
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.13418897201770136,
|
| 35 |
+
"xyz": [
|
| 36 |
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-0.9901698166368188,
|
| 37 |
+
0.00571834053348344,
|
| 38 |
+
-0.03904298389959983
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_3": {
|
| 43 |
+
"confidence": 0.9487665891647339,
|
| 44 |
+
"position": [
|
| 45 |
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-0.08690614439547062,
|
| 46 |
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-0.007419852539896965,
|
| 47 |
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0.19038823060691357
|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.0469220930266248,
|
| 51 |
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"xyz": [
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| 52 |
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-0.003838893607067346,
|
| 53 |
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0.9875419648256696,
|
| 54 |
+
0.15014808620202572
|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_5": {
|
| 59 |
+
"confidence": 0.9474488496780396,
|
| 60 |
+
"position": [
|
| 61 |
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-0.0942064467817545,
|
| 62 |
+
-0.027070151641964912,
|
| 63 |
+
0.18268772773444653
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.07623475877102205,
|
| 67 |
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"xyz": [
|
| 68 |
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-0.030525035475441532,
|
| 69 |
+
0.9635381877048366,
|
| 70 |
+
0.25465789718527465
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.9463873505592346,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.07756965793669224,
|
| 78 |
+
0.13489471562206745,
|
| 79 |
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0.07696874625980854
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.0638690781920154,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.05877830830354377,
|
| 85 |
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0.6757586103010234,
|
| 86 |
+
-0.7319946392753877
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.9452893137931824,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.10060654021799564,
|
| 94 |
+
-0.024511218070983887,
|
| 95 |
+
0.18616786412894726
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.19296196732348167,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.9760267672208273,
|
| 101 |
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-0.02689027680841599,
|
| 102 |
+
-0.09702753139330864
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_9": {
|
| 107 |
+
"confidence": 0.9450835585594177,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.0777986366301775,
|
| 110 |
+
0.14092925377190113,
|
| 111 |
+
0.08528235368430614
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.07945969334598213,
|
| 115 |
+
"xyz": [
|
| 116 |
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0.08143169432378006,
|
| 117 |
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0.6920090454006367,
|
| 118 |
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-0.7128664092076585
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_10": {
|
| 123 |
+
"confidence": 0.9443452954292297,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.11374354548752308,
|
| 126 |
+
0.0340749267488718,
|
| 127 |
+
0.18753145448863506
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.15021524431517974,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.009786658863956892,
|
| 133 |
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0.9872487173936367,
|
| 134 |
+
-0.051764579475063535
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_12": {
|
| 139 |
+
"confidence": 0.9433478713035583,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.101014519110322,
|
| 142 |
+
-0.0015195952728390694,
|
| 143 |
+
0.18542191199958324
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.16420825069135278,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.9814210332928098,
|
| 149 |
+
-0.014667023017110786,
|
| 150 |
+
-0.09814929572429454
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_17": {
|
| 155 |
+
"confidence": 0.9419148564338684,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.1008907351642847,
|
| 158 |
+
-0.008033933117985725,
|
| 159 |
+
0.18190337531268597
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.1412711181464004,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.9855862040122801,
|
| 165 |
+
-0.015551916210856803,
|
| 166 |
+
-0.09176297478013874
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "inner lining",
|
| 174 |
+
"mask_color": "Green",
|
| 175 |
+
"graspable": false,
|
| 176 |
+
"grasp_scenarios": [],
|
| 177 |
+
"functional_labels": [
|
| 178 |
+
"provide a resting surface",
|
| 179 |
+
"protect contents from scratches",
|
| 180 |
+
"line the interior",
|
| 181 |
+
"present stored items neatly"
|
| 182 |
+
],
|
| 183 |
+
"semantic_description": "Flat square white interior panel inset into the base, smooth and uniform, occupying most of the inside bottom area.",
|
| 184 |
+
"id": 1,
|
| 185 |
+
"grasp_group": {}
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"part_name": "hinge",
|
| 189 |
+
"mask_color": "Yellow",
|
| 190 |
+
"graspable": false,
|
| 191 |
+
"grasp_scenarios": [],
|
| 192 |
+
"functional_labels": [
|
| 193 |
+
"connect lid to base",
|
| 194 |
+
"enable rotation",
|
| 195 |
+
"guide opening motion",
|
| 196 |
+
"support repeated opening"
|
| 197 |
+
],
|
| 198 |
+
"semantic_description": "Small gold-toned metal hinge hardware mounted along the rear edge between the lid and base, reflective and compact.",
|
| 199 |
+
"id": 3,
|
| 200 |
+
"grasp_group": {}
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"part_name": "latch",
|
| 204 |
+
"mask_color": "Orange",
|
| 205 |
+
"graspable": true,
|
| 206 |
+
"grasp_scenarios": [
|
| 207 |
+
{
|
| 208 |
+
"scenario": "pinch or hook the front latch to release or secure the box",
|
| 209 |
+
"confidence": 0.82
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"scenario": "use the latch as a light pull point to start opening the lid",
|
| 213 |
+
"confidence": 0.6
|
| 214 |
+
}
|
| 215 |
+
],
|
| 216 |
+
"functional_labels": [
|
| 217 |
+
"secure closure",
|
| 218 |
+
"release the lid",
|
| 219 |
+
"provide a front pull point",
|
| 220 |
+
"align the front opening"
|
| 221 |
+
],
|
| 222 |
+
"semantic_description": "Small gold-toned metallic clasp at the front center of the box body, glossy and slightly protruding for opening and closing.",
|
| 223 |
+
"id": 4,
|
| 224 |
+
"grasp_group": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"part_name": "box body",
|
| 228 |
+
"mask_color": "Purple",
|
| 229 |
+
"graspable": true,
|
| 230 |
+
"grasp_scenarios": [
|
| 231 |
+
{
|
| 232 |
+
"scenario": "grasp the side walls of the box body to lift and move the box",
|
| 233 |
+
"confidence": 0.9
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"scenario": "hold the box body to stabilize it while opening the lid",
|
| 237 |
+
"confidence": 0.9
|
| 238 |
+
}
|
| 239 |
+
],
|
| 240 |
+
"functional_labels": [
|
| 241 |
+
"contain stored items",
|
| 242 |
+
"support all other parts",
|
| 243 |
+
"provide main grasp surface",
|
| 244 |
+
"define box structure"
|
| 245 |
+
],
|
| 246 |
+
"semantic_description": "Square rigid main container beneath the lid, with translucent clear side walls and a light beige top rim trim; smooth glossy finish and straight edges.",
|
| 247 |
+
"id": 5,
|
| 248 |
+
"grasp_group": {
|
| 249 |
+
"grasp_26": {
|
| 250 |
+
"confidence": 0.790756344795227,
|
| 251 |
+
"position": [
|
| 252 |
+
-0.03524298407137394,
|
| 253 |
+
0.14183193631470203,
|
| 254 |
+
0.005967461504042149
|
| 255 |
+
],
|
| 256 |
+
"orientation": {
|
| 257 |
+
"w": 0.6400475919889794,
|
| 258 |
+
"xyz": [
|
| 259 |
+
0.6200103350477243,
|
| 260 |
+
-0.31857929161458765,
|
| 261 |
+
0.3231617232555012
|
| 262 |
+
]
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"grasp_27": {
|
| 266 |
+
"confidence": 0.709890604019165,
|
| 267 |
+
"position": [
|
| 268 |
+
-0.048458656296133995,
|
| 269 |
+
-0.14302745275199413,
|
| 270 |
+
-0.0014269333332777023
|
| 271 |
+
],
|
| 272 |
+
"orientation": {
|
| 273 |
+
"w": 0.5375548488900793,
|
| 274 |
+
"xyz": [
|
| 275 |
+
-0.5861966655211921,
|
| 276 |
+
-0.3943136987299263,
|
| 277 |
+
-0.4603530827099178
|
| 278 |
+
]
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"grasp_29": {
|
| 282 |
+
"confidence": 0.6171593070030212,
|
| 283 |
+
"position": [
|
| 284 |
+
-0.04049699008464813,
|
| 285 |
+
0.14421765692532063,
|
| 286 |
+
-0.000614045187830925
|
| 287 |
+
],
|
| 288 |
+
"orientation": {
|
| 289 |
+
"w": 0.6874842080817933,
|
| 290 |
+
"xyz": [
|
| 291 |
+
0.6702010876170617,
|
| 292 |
+
-0.19549731367579282,
|
| 293 |
+
0.19994190691449826
|
| 294 |
+
]
|
| 295 |
+
}
|
| 296 |
+
},
|
| 297 |
+
"grasp_32": {
|
| 298 |
+
"confidence": 0.4970867335796356,
|
| 299 |
+
"position": [
|
| 300 |
+
-0.030821634456515312,
|
| 301 |
+
-0.1474566888064146,
|
| 302 |
+
0.010993123054504395
|
| 303 |
+
],
|
| 304 |
+
"orientation": {
|
| 305 |
+
"w": 0.7007904916444516,
|
| 306 |
+
"xyz": [
|
| 307 |
+
-0.6918702359345258,
|
| 308 |
+
-0.14074351378412286,
|
| 309 |
+
-0.10197807007553039
|
| 310 |
+
]
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"part_name": "base panel",
|
| 317 |
+
"mask_color": "Cyan",
|
| 318 |
+
"graspable": false,
|
| 319 |
+
"grasp_scenarios": [],
|
| 320 |
+
"functional_labels": [
|
| 321 |
+
"support the box on a surface",
|
| 322 |
+
"stabilize the container",
|
| 323 |
+
"form the bottom enclosure"
|
| 324 |
+
],
|
| 325 |
+
"semantic_description": "Flat square bottom panel on the underside of the box, translucent clear to frosted-looking and glossy, serving as the contact base.",
|
| 326 |
+
"id": 6,
|
| 327 |
+
"grasp_group": {}
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"part_name": "hinge plate",
|
| 331 |
+
"mask_color": "Blue",
|
| 332 |
+
"graspable": false,
|
| 333 |
+
"grasp_scenarios": [],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"mount hinge hardware to the box",
|
| 336 |
+
"help support lid alignment",
|
| 337 |
+
"reinforce the rear hinge area"
|
| 338 |
+
],
|
| 339 |
+
"semantic_description": "Small metallic rear hinge mounting piece along the back edge, visible as a compact connector adjacent to the hinge hardware.",
|
| 340 |
+
"id": 2,
|
| 341 |
+
"grasp_group": {}
|
| 342 |
+
}
|
| 343 |
+
],
|
| 344 |
+
"quality_check": {
|
| 345 |
+
"success": false,
|
| 346 |
+
"message": "Several part names/descriptions mismatch visible parts: hinge plate not distinct, hinge description overstates metal hardware, body/base colors and materials are inaccurate."
|
| 347 |
+
}
|
| 348 |
+
}
|
dataset/bedroom_supplies/storage/0de08fd102fb5eb8b0c4fe5274645d55/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d2e50131d2dc614773b5d767f8153d755be13d11d28896e770c594b70d3872ff
|
| 3 |
+
size 3783080
|