Add asset bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58
Browse files
.gitattributes
CHANGED
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@@ -5978,3 +5978,4 @@ dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mes
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| 5978 |
dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5979 |
dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5980 |
dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5978 |
dataset/bedroom_supplies/storage/2079102af55e5737aceb7b11ed8fe67d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5979 |
dataset/bedroom_supplies/storage/2194c25c070259bab73263556019c716/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5980 |
dataset/bedroom_supplies/storage/21cf2c5f1fd55019830922771f208508/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5981 |
+
dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,385 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid exterior to lift and open the glasses case",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize the case during inspection or placement",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the case opening",
|
| 19 |
+
"protect stored glasses",
|
| 20 |
+
"open and close access",
|
| 21 |
+
"provide upper shell structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded white hard-shell upper half with a smooth matte-to-satin finish, firm hard texture, and gently curved rectangular shape forming the top of the case.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_24": {
|
| 27 |
+
"confidence": 0.9482991695404053,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.01445626438362524,
|
| 30 |
+
0.022441044231527485,
|
| 31 |
+
0.1565046776086092
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.06246569150122582,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.004806544816479756,
|
| 37 |
+
-0.9980189120813475,
|
| 38 |
+
-0.0057606978886793735
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_26": {
|
| 43 |
+
"confidence": 0.9473615288734436,
|
| 44 |
+
"position": [
|
| 45 |
+
0.004476180300116539,
|
| 46 |
+
0.023018825580948032,
|
| 47 |
+
0.15495692379772663
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.1342459156395434,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.005862308689638587,
|
| 53 |
+
-0.990676845812038,
|
| 54 |
+
0.022428879660816754
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_31": {
|
| 59 |
+
"confidence": 0.9430244565010071,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.016015827422961593,
|
| 62 |
+
-0.029596699620014988,
|
| 63 |
+
0.15388655848801136
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.03907824641128148,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.07007852938821922,
|
| 69 |
+
-0.9964403403461326,
|
| 70 |
+
0.025856111600299655
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_34": {
|
| 75 |
+
"confidence": 0.9422634840011597,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.013245062029454857,
|
| 78 |
+
0.0419413761846954,
|
| 79 |
+
0.15442675538361073
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.07593855613346491,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.01114059463558567,
|
| 85 |
+
-0.9920594725669534,
|
| 86 |
+
0.09963546423692589
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_37": {
|
| 91 |
+
"confidence": 0.9413399696350098,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.0052803317084908485,
|
| 94 |
+
-0.05051245003414806,
|
| 95 |
+
0.15365207381546497
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.10242594494082853,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.9893508529240219,
|
| 101 |
+
0.00233828465680444,
|
| 102 |
+
0.1033844671425678
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
{
|
| 109 |
+
"part_name": "base",
|
| 110 |
+
"mask_color": "Green",
|
| 111 |
+
"graspable": true,
|
| 112 |
+
"grasp_scenarios": [
|
| 113 |
+
{
|
| 114 |
+
"scenario": "grasp the base to pick up and carry the glasses case",
|
| 115 |
+
"confidence": 0.93
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"scenario": "hold the base steady while opening or closing the lid",
|
| 119 |
+
"confidence": 0.9
|
| 120 |
+
}
|
| 121 |
+
],
|
| 122 |
+
"functional_labels": [
|
| 123 |
+
"support the case",
|
| 124 |
+
"contain eyeglasses",
|
| 125 |
+
"provide main grasp surface",
|
| 126 |
+
"stabilize the object on a table"
|
| 127 |
+
],
|
| 128 |
+
"semantic_description": "Large rounded white hard-shell lower half with a smooth matte-to-satin finish, firm hard texture, and slightly boxy curved shape forming the bottom support and storage body.",
|
| 129 |
+
"id": 1,
|
| 130 |
+
"grasp_group": {}
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"part_name": "interior liner",
|
| 134 |
+
"mask_color": "Red",
|
| 135 |
+
"graspable": false,
|
| 136 |
+
"grasp_scenarios": [],
|
| 137 |
+
"functional_labels": [
|
| 138 |
+
"cushion stored glasses",
|
| 139 |
+
"protect lenses from scratches",
|
| 140 |
+
"line the storage cavity",
|
| 141 |
+
"provide a soft contact surface"
|
| 142 |
+
],
|
| 143 |
+
"semantic_description": "Soft white interior lining with a matte fabric-like finish, smooth slightly cushioned texture, shallow recessed shape inside the base, and visible dark printed characters on the bottom.",
|
| 144 |
+
"id": 0,
|
| 145 |
+
"grasp_group": {}
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"part_name": "clasp tab",
|
| 149 |
+
"mask_color": "Yellow",
|
| 150 |
+
"graspable": true,
|
| 151 |
+
"grasp_scenarios": [
|
| 152 |
+
{
|
| 153 |
+
"scenario": "pinch the clasp tab to open the glasses case",
|
| 154 |
+
"confidence": 0.78
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"scenario": "grasp the tab to pull and orient the case front edge",
|
| 158 |
+
"confidence": 0.42
|
| 159 |
+
}
|
| 160 |
+
],
|
| 161 |
+
"functional_labels": [
|
| 162 |
+
"latch the case closed",
|
| 163 |
+
"provide an opening point",
|
| 164 |
+
"align the lid and base",
|
| 165 |
+
"secure the front edge"
|
| 166 |
+
],
|
| 167 |
+
"semantic_description": "Small light gray protruding tab at the front edge with a smooth matte finish, hard texture, and compact rounded shape used as the closure feature.",
|
| 168 |
+
"id": 3,
|
| 169 |
+
"grasp_group": {
|
| 170 |
+
"grasp_40": {
|
| 171 |
+
"confidence": 0.5717360377311707,
|
| 172 |
+
"position": [
|
| 173 |
+
0.06413465738296509,
|
| 174 |
+
0.0007026777166174725,
|
| 175 |
+
0.1274124477058649
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.05158215321704534,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.8894602797631296,
|
| 181 |
+
-0.02239131357068408,
|
| 182 |
+
0.45353976812377517
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_41": {
|
| 187 |
+
"confidence": 0.7343837022781372,
|
| 188 |
+
"position": [
|
| 189 |
+
0.04834623262286186,
|
| 190 |
+
-0.003653205683804117,
|
| 191 |
+
0.1408627349883318
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.03047669335781057,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.9347009724368691,
|
| 197 |
+
-0.03219321195027286,
|
| 198 |
+
0.3526596948786039
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_43": {
|
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dataset/bedroom_supplies/storage/261d72bcaff456539c3fa5ca77a6fa58/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 3781912
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