Add asset bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6
Browse files
.gitattributes
CHANGED
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@@ -5974,3 +5974,4 @@ dataset/bedroom_supplies/storage/1a1651ba69165a75ae1252157cc0edc2/affordance/mes
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| 5974 |
dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5975 |
dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5976 |
dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5974 |
dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5975 |
dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5976 |
dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5977 |
+
dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,368 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "rim of storage bin",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top rim to lift and carry the empty or lightly loaded bin",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the rim to pull the bin from a shelf or stack",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the rim to stabilize the bin while placing or aligning it",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a top gripping edge",
|
| 23 |
+
"stiffen the opening",
|
| 24 |
+
"support lifting and pulling",
|
| 25 |
+
"define the bin opening"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Raised orange plastic rim with a smooth slightly glossy hard surface, running around the top edge as a medium-width rounded rectangular lip at the bin opening.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_5": {
|
| 31 |
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"confidence": 0.29878801107406616,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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0.0014007755380589515,
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| 35 |
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0.07783860899508
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.3602431950228447,
|
| 39 |
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"xyz": [
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| 40 |
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0.6282348153154778,
|
| 41 |
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-0.6010509212768076,
|
| 42 |
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-0.3380586447608772
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_6": {
|
| 47 |
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"confidence": 0.28685617446899414,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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-0.002715928596444428,
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| 51 |
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| 52 |
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],
|
| 53 |
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"orientation": {
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| 54 |
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"w": 0.35860471389399634,
|
| 55 |
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"xyz": [
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| 56 |
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-0.5988156211396368,
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| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_9": {
|
| 63 |
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"confidence": 0.5077834725379944,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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|
| 67 |
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0.08214596845209599
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.3331941797009253,
|
| 71 |
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"xyz": [
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| 72 |
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| 73 |
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|
| 74 |
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-0.3581564051636431
|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_10": {
|
| 79 |
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"confidence": 0.44307762384414673,
|
| 80 |
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"position": [
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| 81 |
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|
| 82 |
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-0.006512455292977393,
|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.34289850570066266,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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0.6161416293733076,
|
| 90 |
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-0.35690111443436473
|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_12": {
|
| 95 |
+
"confidence": 0.311545193195343,
|
| 96 |
+
"position": [
|
| 97 |
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0.11112038341525476,
|
| 98 |
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-0.011502933339215815,
|
| 99 |
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0.09390749223530293
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.3086228547342774,
|
| 103 |
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"xyz": [
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_15": {
|
| 111 |
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"confidence": 0.20998607575893402,
|
| 112 |
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"position": [
|
| 113 |
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0.12863685486081522,
|
| 114 |
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0.005606664693914354,
|
| 115 |
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0.08411256410181522
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.34234467694769216,
|
| 119 |
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"xyz": [
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| 120 |
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-0.6048866452385647,
|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_16": {
|
| 127 |
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"confidence": 0.20058980584144592,
|
| 128 |
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"position": [
|
| 129 |
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0.12977655527356546,
|
| 130 |
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-0.003492394578643143,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.3527732341200453,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.6064457444371625,
|
| 137 |
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|
| 138 |
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0.3229215164385504
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_17": {
|
| 143 |
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"confidence": 0.1783519834280014,
|
| 144 |
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"position": [
|
| 145 |
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0.1368952721095411,
|
| 146 |
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-0.0006184934172779322,
|
| 147 |
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0.0802788008004427
|
| 148 |
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],
|
| 149 |
+
"orientation": {
|
| 150 |
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"w": 0.3360986455181687,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.5872049086083498,
|
| 153 |
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-0.6481491822163019,
|
| 154 |
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0.3494720781113296
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_18": {
|
| 159 |
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"confidence": 0.5943091511726379,
|
| 160 |
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"position": [
|
| 161 |
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-0.1278694242500933,
|
| 162 |
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0.009291373542509973,
|
| 163 |
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0.07665573991835117
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.3342492751390005,
|
| 167 |
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"xyz": [
|
| 168 |
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-0.6273194880146268,
|
| 169 |
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0.6067234639829743,
|
| 170 |
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-0.35585716274738594
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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}
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"part_name": "bin body",
|
| 178 |
+
"mask_color": "Green",
|
| 179 |
+
"graspable": true,
|
| 180 |
+
"grasp_scenarios": [
|
| 181 |
+
{
|
| 182 |
+
"scenario": "grasp opposite outer sidewalls to pick up the bin body",
|
| 183 |
+
"confidence": 0.78
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"scenario": "hold a sidewall to stabilize the bin during placement",
|
| 187 |
+
"confidence": 0.74
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"scenario": "push or nudge the side of the bin to reposition it",
|
| 191 |
+
"confidence": 0.72
|
| 192 |
+
}
|
| 193 |
+
],
|
| 194 |
+
"functional_labels": [
|
| 195 |
+
"contain stored items",
|
| 196 |
+
"provide side support",
|
| 197 |
+
"form the base and walls",
|
| 198 |
+
"enable stacking structure"
|
| 199 |
+
],
|
| 200 |
+
"semantic_description": "Large orange plastic basket body with hard smooth slightly glossy surfaces, perforated sidewalls and a solid bottom, forming the main tapered rectangular container.",
|
| 201 |
+
"id": 1,
|
| 202 |
+
"grasp_group": {
|
| 203 |
+
"grasp_21": {
|
| 204 |
+
"confidence": 0.9289154410362244,
|
| 205 |
+
"position": [
|
| 206 |
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-0.14180127980944235,
|
| 207 |
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-0.005099762813188136,
|
| 208 |
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0.009080369956791401
|
| 209 |
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],
|
| 210 |
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"orientation": {
|
| 211 |
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"w": 0.6699291989635258,
|
| 212 |
+
"xyz": [
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{
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"part_name": "front label panel",
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| 355 |
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| 359 |
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"message": "YES"
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| 367 |
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| 368 |
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|
dataset/bedroom_supplies/storage/1e99df1981d952e7bd4aba304f135fa6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:69611c069db0fc2ab4f5388536611640c45eeef9b602fdb940a450e52ecc3824
|
| 3 |
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size 3782584
|