Add asset bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae
Browse files
.gitattributes
CHANGED
|
@@ -8098,4 +8098,4 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mes
|
|
| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8100 |
dataset/bedroom_supplies/storage/a2cb36d841de5add8482b4d3f6a8ef89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8101 |
-
dataset/bedroom_supplies/storage/
|
|
|
|
| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8100 |
dataset/bedroom_supplies/storage/a2cb36d841de5add8482b4d3f6a8ef89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8101 |
+
dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,405 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upper rim to pick up or reposition the lightweight storage bin",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to pull the bin from a shelf or drawer",
|
| 14 |
+
"confidence": 0.81
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the rim to stabilize the bin while placing items inside",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide an upper gripping edge",
|
| 23 |
+
"stiffen the opening",
|
| 24 |
+
"define the opening boundary",
|
| 25 |
+
"help pull or reposition the bin"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thin rectangular light pink plastic lip around the top opening with a smooth slightly glossy finish, hard texture, and a raised edge running along the bin perimeter.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.5241033434867859,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.12304795417003334,
|
| 34 |
+
-0.01122846023645252,
|
| 35 |
+
0.08343834165134467
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.37257430720473966,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.6113641004277763,
|
| 41 |
+
0.6190850495746416,
|
| 42 |
+
-0.32273212376862637
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.7357481718063354,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.13256672653369606,
|
| 50 |
+
0.014414144330658019,
|
| 51 |
+
0.08243900272645988
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.32379670470145333,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6363435865499781,
|
| 57 |
+
0.6000341090216426,
|
| 58 |
+
-0.3608068761703328
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.7353509068489075,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.12479071947745979,
|
| 66 |
+
0.0049989387625828385,
|
| 67 |
+
0.08521996173658408
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.33670979304717824,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6402093898958355,
|
| 73 |
+
0.5972932166482798,
|
| 74 |
+
-0.3464091016432434
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_5": {
|
| 79 |
+
"confidence": 0.724860668182373,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.1338064286392182,
|
| 82 |
+
0.013642487698234618,
|
| 83 |
+
0.08258224013843574
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3280872023341486,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6360810212344243,
|
| 89 |
+
0.5988549467424866,
|
| 90 |
+
-0.35935007284259235
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_6": {
|
| 95 |
+
"confidence": 0.7235777974128723,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.12958059343509376,
|
| 98 |
+
0.010330948629416525,
|
| 99 |
+
0.08613151792087592
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.3246928983691527,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.6364784932858704,
|
| 105 |
+
0.6023039781681884,
|
| 106 |
+
-0.35594882668153555
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_8": {
|
| 111 |
+
"confidence": 0.463045597076416,
|
| 112 |
+
"position": [
|
| 113 |
+
0.009324069367721677,
|
| 114 |
+
-0.0012323447735980153,
|
| 115 |
+
0.11764926943578757
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.13681029994401425,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6500300841757513,
|
| 121 |
+
-0.7171904402218247,
|
| 122 |
+
-0.21066965597854906
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_10": {
|
| 127 |
+
"confidence": 0.3766580820083618,
|
| 128 |
+
"position": [
|
| 129 |
+
0.13295080629177392,
|
| 130 |
+
0.004707155399955809,
|
| 131 |
+
0.08501964542665519
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.3551174273587389,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6059277952702214,
|
| 137 |
+
-0.6285502272611432,
|
| 138 |
+
-0.33416722088655565
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_18": {
|
| 143 |
+
"confidence": 0.47145068645477295,
|
| 144 |
+
"position": [
|
| 145 |
+
0.08570271101780236,
|
| 146 |
+
0.017879861989058554,
|
| 147 |
+
0.11880682143964805
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.19869269218127722,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.6788491425870741,
|
| 153 |
+
-0.6856275624561959,
|
| 154 |
+
-0.17204621844994247
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"part_name": "body of storage bin",
|
| 162 |
+
"mask_color": "Green",
|
| 163 |
+
"graspable": true,
|
| 164 |
+
"grasp_scenarios": [
|
| 165 |
+
{
|
| 166 |
+
"scenario": "grasp the sidewalls to lift or carry the storage bin",
|
| 167 |
+
"confidence": 0.82
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "hold opposite exterior sides to reposition the bin on a surface",
|
| 171 |
+
"confidence": 0.78
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"scenario": "support the bin by the body while loading or unloading contents",
|
| 175 |
+
"confidence": 0.69
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"functional_labels": [
|
| 179 |
+
"contain stored items",
|
| 180 |
+
"provide main structure",
|
| 181 |
+
"support placement on a surface",
|
| 182 |
+
"present exterior surfaces for handling"
|
| 183 |
+
],
|
| 184 |
+
"semantic_description": "Large tapered rectangular light pink plastic container body with smooth slightly glossy hard surfaces; the exterior is decorated with red strawberry graphics and white polka dots, while the visible interior surfaces are pink with white polka dots.",
|
| 185 |
+
"id": 1,
|
| 186 |
+
"grasp_group": {
|
| 187 |
+
"grasp_20": {
|
| 188 |
+
"confidence": 0.8952855467796326,
|
| 189 |
+
"position": [
|
| 190 |
+
-0.0284361622761935,
|
| 191 |
+
0.11465140955988318,
|
| 192 |
+
-0.0024998791923280805
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.4785371429416288,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.5119603556926023,
|
| 198 |
+
0.5044922275862628,
|
| 199 |
+
-0.5043673158814099
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
"grasp_21": {
|
| 204 |
+
"confidence": 0.8944173455238342,
|
| 205 |
+
"position": [
|
| 206 |
+
-0.004544055787846446,
|
| 207 |
+
-0.11172335816081613,
|
| 208 |
+
-0.002594150457298383
|
| 209 |
+
],
|
| 210 |
+
"orientation": {
|
| 211 |
+
"w": 0.4233446440766216,
|
| 212 |
+
"xyz": [
|
| 213 |
+
-0.5637390905247635,
|
| 214 |
+
0.4254826492775279,
|
| 215 |
+
0.5673993878298844
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
"grasp_22": {
|
| 220 |
+
"confidence": 0.8940469026565552,
|
| 221 |
+
"position": [
|
| 222 |
+
-0.02939101937226951,
|
| 223 |
+
0.11437054502312094,
|
| 224 |
+
-0.004807321674888954
|
| 225 |
+
],
|
| 226 |
+
"orientation": {
|
| 227 |
+
"w": 0.4868084626380555,
|
| 228 |
+
"xyz": [
|
| 229 |
+
0.5040310809711263,
|
| 230 |
+
0.5033706665371115,
|
| 231 |
+
-0.5055572788409189
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"grasp_25": {
|
| 236 |
+
"confidence": 0.8896684050559998,
|
| 237 |
+
"position": [
|
| 238 |
+
-0.027171124471351504,
|
| 239 |
+
0.11827815847937018,
|
| 240 |
+
-0.004249618243193254
|
| 241 |
+
],
|
| 242 |
+
"orientation": {
|
| 243 |
+
"w": 0.4914761909073721,
|
| 244 |
+
"xyz": [
|
| 245 |
+
0.5005128106146015,
|
| 246 |
+
0.5072933494417486,
|
| 247 |
+
-0.5005911882904303
|
| 248 |
+
]
|
| 249 |
+
}
|
| 250 |
+
},
|
| 251 |
+
"grasp_26": {
|
| 252 |
+
"confidence": 0.8894336223602295,
|
| 253 |
+
"position": [
|
| 254 |
+
-0.024181992514058948,
|
| 255 |
+
-0.1191450305050239,
|
| 256 |
+
0.00028152947197668254
|
| 257 |
+
],
|
| 258 |
+
"orientation": {
|
| 259 |
+
"w": 0.5015646064690695,
|
| 260 |
+
"xyz": [
|
| 261 |
+
-0.49097805461111343,
|
| 262 |
+
0.5172257529666814,
|
| 263 |
+
0.48974586868687653
|
| 264 |
+
]
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"grasp_27": {
|
| 268 |
+
"confidence": 0.8879534602165222,
|
| 269 |
+
"position": [
|
| 270 |
+
0.05311608058400452,
|
| 271 |
+
-0.1150682590669021,
|
| 272 |
+
-0.0036435088550206274
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.49273208553953557,
|
| 276 |
+
"xyz": [
|
| 277 |
+
-0.5253788403053264,
|
| 278 |
+
0.46774460252842387,
|
| 279 |
+
0.5122569207388191
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_30": {
|
| 284 |
+
"confidence": 0.882308840751648,
|
| 285 |
+
"position": [
|
| 286 |
+
-0.022568660555407405,
|
| 287 |
+
0.11922484415117651,
|
| 288 |
+
-0.0014629192592110485
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.48591475322483846,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.5063003812310927,
|
| 294 |
+
0.5068121602588097,
|
| 295 |
+
-0.50068773779422
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_32": {
|
| 300 |
+
"confidence": 0.881702721118927,
|
| 301 |
+
"position": [
|
| 302 |
+
0.04408544790931046,
|
| 303 |
+
-0.1160075165098533,
|
| 304 |
+
0.0005102481081848964
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.4809686449303012,
|
| 308 |
+
"xyz": [
|
| 309 |
+
-0.5105991200933364,
|
| 310 |
+
0.49808442501243944,
|
| 311 |
+
0.509774074187623
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_33": {
|
| 316 |
+
"confidence": 0.8773719072341919,
|
| 317 |
+
"position": [
|
| 318 |
+
-0.03395054000429809,
|
| 319 |
+
0.11952887999359518,
|
| 320 |
+
-0.0008607961644884199
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.46863882006728536,
|
| 324 |
+
"xyz": [
|
| 325 |
+
0.5064287752422438,
|
| 326 |
+
0.5134446470007274,
|
| 327 |
+
-0.5101785436480856
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_34": {
|
| 332 |
+
"confidence": 0.8764591217041016,
|
| 333 |
+
"position": [
|
| 334 |
+
-0.05806129309348762,
|
| 335 |
+
0.11728080885950476,
|
| 336 |
+
0.004805837903404608
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.503085131495435,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.5066233827560465,
|
| 342 |
+
-0.4857734394171398,
|
| 343 |
+
0.5042442504083547
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_35": {
|
| 348 |
+
"confidence": 0.8755823969841003,
|
| 349 |
+
"position": [
|
| 350 |
+
-0.017055854899808764,
|
| 351 |
+
-0.11934299988206476,
|
| 352 |
+
-0.0015956562419887632
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.4920432128459378,
|
| 356 |
+
"xyz": [
|
| 357 |
+
-0.5013651388039252,
|
| 358 |
+
0.5044517537614035,
|
| 359 |
+
0.5020506970530098
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_36": {
|
| 364 |
+
"confidence": 0.8744909763336182,
|
| 365 |
+
"position": [
|
| 366 |
+
-0.027741797966882586,
|
| 367 |
+
-0.11820712906774133,
|
| 368 |
+
-0.004862360976403579
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.5031248301922219,
|
| 372 |
+
"xyz": [
|
| 373 |
+
-0.485957681748505,
|
| 374 |
+
0.5119636316172613,
|
| 375 |
+
0.4986018217926326
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
}
|
| 380 |
+
},
|
| 381 |
+
{
|
| 382 |
+
"part_name": "inner upper wall",
|
| 383 |
+
"mask_color": "Blue",
|
| 384 |
+
"graspable": false,
|
| 385 |
+
"grasp_scenarios": [
|
| 386 |
+
{
|
| 387 |
+
"scenario": "lightly contact the inner upper wall to steady the bin while placing or removing contents",
|
| 388 |
+
"confidence": 0.34
|
| 389 |
+
}
|
| 390 |
+
],
|
| 391 |
+
"functional_labels": [
|
| 392 |
+
"form the interior upper side surface",
|
| 393 |
+
"guide items into the bin",
|
| 394 |
+
"connect the rim to the main body interior"
|
| 395 |
+
],
|
| 396 |
+
"semantic_description": "Narrow light pink plastic strip visible just below the rim along the inside upper wall, smooth and slightly glossy, wrapping around the interior perimeter beneath the top lip.",
|
| 397 |
+
"id": 2,
|
| 398 |
+
"grasp_group": {}
|
| 399 |
+
}
|
| 400 |
+
],
|
| 401 |
+
"quality_check": {
|
| 402 |
+
"success": true,
|
| 403 |
+
"message": "YES"
|
| 404 |
+
}
|
| 405 |
+
}
|
dataset/bedroom_supplies/storage/a355bf1c72b15ef4b4411518806f34ae/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2c9854512e70b95280823102df99777e0a8e1d0cfedea9c58088e581e56e54e5
|
| 3 |
+
size 3783020
|