Add asset bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d
Browse files
.gitattributes
CHANGED
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@@ -5950,3 +5950,4 @@ dataset/bedroom_supplies/small_electronics/fe067163f87b5f239bd2c8e262abf6a9/affo
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| 5950 |
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5951 |
dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5952 |
dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5950 |
dataset/bedroom_supplies/storage/03d267d000db5840bea85ef171ce8b05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5951 |
dataset/bedroom_supplies/storage/058e78e14ce45c7ba68336d863500e59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5952 |
dataset/bedroom_supplies/storage/0626293c5f3e591b9df5fe282051c4cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5953 |
+
dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,485 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "left side panel with integrated handle",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the integrated curved handle to pull or carry the bin from one side",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the upper side panel near the rim to stabilize the bin during placement",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide side carrying grip",
|
| 19 |
+
"support the bin wall",
|
| 20 |
+
"contain stored items",
|
| 21 |
+
"allow pulling the bin from a shelf"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rectangular outer side wall made of light gray woven-texture fabric with a matte finish, featuring an integrated curved beige handle centered on the panel.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "right side panel with integrated handle",
|
| 29 |
+
"mask_color": "Blue",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the integrated curved handle to pull or carry the bin from the opposite side",
|
| 34 |
+
"confidence": 0.95
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "pinch the upper side panel near the rim to steady the bin while moving it",
|
| 38 |
+
"confidence": 0.56
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"provide side carrying grip",
|
| 43 |
+
"support the bin wall",
|
| 44 |
+
"contain stored items",
|
| 45 |
+
"allow pulling the bin from a shelf"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "Large rectangular outer side wall made of light gray woven-texture fabric with a matte finish, featuring an integrated curved beige handle centered on the panel.",
|
| 48 |
+
"id": 2,
|
| 49 |
+
"grasp_group": {}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"part_name": "plain side panel",
|
| 53 |
+
"mask_color": "Purple",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"grasp_scenarios": [
|
| 56 |
+
{
|
| 57 |
+
"scenario": "clamp the side wall near the rim to reposition an empty or lightly loaded bin",
|
| 58 |
+
"confidence": 0.44
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"scenario": "hold the side panel to stabilize the bin while another gripper accesses contents",
|
| 62 |
+
"confidence": 0.6
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"contain stored items",
|
| 67 |
+
"support side structure",
|
| 68 |
+
"provide lateral enclosure",
|
| 69 |
+
"help maintain bin shape"
|
| 70 |
+
],
|
| 71 |
+
"semantic_description": "Rectangular light gray fabric side panel with a matte woven texture and slightly tapered shape, forming one of the plain outer walls without a handle.",
|
| 72 |
+
"id": 5,
|
| 73 |
+
"grasp_group": {}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "plain side panel",
|
| 77 |
+
"mask_color": "Cyan",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
+
"scenario": "clamp the side wall near the rim to reposition an empty or lightly loaded bin",
|
| 82 |
+
"confidence": 0.44
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "hold the side panel to stabilize the bin while another gripper accesses contents",
|
| 86 |
+
"confidence": 0.6
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"functional_labels": [
|
| 90 |
+
"contain stored items",
|
| 91 |
+
"support side structure",
|
| 92 |
+
"provide lateral enclosure",
|
| 93 |
+
"help maintain bin shape"
|
| 94 |
+
],
|
| 95 |
+
"semantic_description": "Rectangular light gray fabric side panel with a matte woven texture and slightly tapered shape, forming one of the plain outer walls without a handle.",
|
| 96 |
+
"id": 6,
|
| 97 |
+
"grasp_group": {}
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"part_name": "bottom panel",
|
| 101 |
+
"mask_color": "Orange",
|
| 102 |
+
"graspable": true,
|
| 103 |
+
"grasp_scenarios": [
|
| 104 |
+
{
|
| 105 |
+
"scenario": "support or suction-grasp the flat base from below when the bin is empty or inverted",
|
| 106 |
+
"confidence": 0.62
|
| 107 |
+
}
|
| 108 |
+
],
|
| 109 |
+
"functional_labels": [
|
| 110 |
+
"support contents from below",
|
| 111 |
+
"form the base",
|
| 112 |
+
"rest on a surface",
|
| 113 |
+
"transfer load to the floor or shelf"
|
| 114 |
+
],
|
| 115 |
+
"semantic_description": "Flat rectangular bottom panel in light beige with a smooth matte finish, visible as the interior floor and underside of the bin.",
|
| 116 |
+
"id": 4,
|
| 117 |
+
"grasp_group": {
|
| 118 |
+
"grasp_65": {
|
| 119 |
+
"confidence": 0.2567879557609558,
|
| 120 |
+
"position": [
|
| 121 |
+
0.009329279688245151,
|
| 122 |
+
-0.1382408730860334,
|
| 123 |
+
0.007292509777471423
|
| 124 |
+
],
|
| 125 |
+
"orientation": {
|
| 126 |
+
"w": 0.46429272162817875,
|
| 127 |
+
"xyz": [
|
| 128 |
+
-0.5316574426707684,
|
| 129 |
+
0.46651723603422146,
|
| 130 |
+
0.5330424943462455
|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"grasp_67": {
|
| 135 |
+
"confidence": 0.20847253501415253,
|
| 136 |
+
"position": [
|
| 137 |
+
-0.13741164674138417,
|
| 138 |
+
-0.014949688891647384,
|
| 139 |
+
-0.034057502169162035
|
| 140 |
+
],
|
| 141 |
+
"orientation": {
|
| 142 |
+
"w": 0.7068292348177063,
|
| 143 |
+
"xyz": [
|
| 144 |
+
-0.008713170678298783,
|
| 145 |
+
0.7072768683560365,
|
| 146 |
+
-0.008714640108701412
|
| 147 |
+
]
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"grasp_68": {
|
| 151 |
+
"confidence": 0.2015600949525833,
|
| 152 |
+
"position": [
|
| 153 |
+
0.03313543255353579,
|
| 154 |
+
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| 481 |
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"quality_check": {
|
| 482 |
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"success": false,
|
| 483 |
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"message": "Bottom panel color/material description is incorrect; visible base is beige interior-like panel, not light beige underside distinct from interior."
|
| 484 |
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}
|
| 485 |
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}
|
dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:68604e458f030031c0b795cd9ea6baaba2d7daab1eb2a9a1da57b1466894b5a4
|
| 3 |
+
size 3797124
|