Add asset bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748
Browse files- .gitattributes +1 -0
- dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/affordance_annot.json +402 -0
- dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb +3 -0
- dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -8104,3 +8104,4 @@ dataset/bedroom_supplies/storage/a6cd240e38a25dc38ed6ff4ecb703d79/affordance/mes
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| 8104 |
dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8105 |
dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8106 |
dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8104 |
dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8105 |
dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8106 |
dataset/bedroom_supplies/storage/aa40146233245c049295c16b77e89f9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8107 |
+
dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,402 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "side handles",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp a side handle to lift and carry the storage bin",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one handle to pull the bin across a surface",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp a handle to stabilize and reorient the bin",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a carrying grip",
|
| 23 |
+
"enable lifting",
|
| 24 |
+
"support pulling",
|
| 25 |
+
"assist reorientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Two small arched light tan plastic handles with a smooth semi-matte hard surface, mounted near the upper short sides and sized for secure side gripping.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "main body shell",
|
| 33 |
+
"mask_color": "Orange",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the bin body from opposite outer walls to pick it up",
|
| 38 |
+
"confidence": 0.83
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the body to stabilize the bin while placing or loading it",
|
| 42 |
+
"confidence": 0.8
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"contain stored items",
|
| 47 |
+
"provide structural support",
|
| 48 |
+
"form the outer container",
|
| 49 |
+
"support placement on a surface"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Large tapered pale pink plastic shell with a hard smooth semi-matte finish, forming the outer walls and lower body of the bin with broad sloped sides and no visible markings.",
|
| 52 |
+
"id": 4,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_22": {
|
| 55 |
+
"confidence": 0.8789827823638916,
|
| 56 |
+
"position": [
|
| 57 |
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-0.05541024840204045,
|
| 58 |
+
0.12147120221925434,
|
| 59 |
+
0.025110239163041115
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
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"w": 0.4544434730173344,
|
| 63 |
+
"xyz": [
|
| 64 |
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|
| 65 |
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|
| 66 |
+
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|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_23": {
|
| 71 |
+
"confidence": 0.8741451501846313,
|
| 72 |
+
"position": [
|
| 73 |
+
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|
| 74 |
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0.12050565912795719,
|
| 75 |
+
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|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
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"w": 0.4429104051616198,
|
| 79 |
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"xyz": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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]
|
| 84 |
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}
|
| 85 |
+
},
|
| 86 |
+
"grasp_24": {
|
| 87 |
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"confidence": 0.8730659484863281,
|
| 88 |
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"position": [
|
| 89 |
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-0.034690619620960206,
|
| 90 |
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0.1225689558632439,
|
| 91 |
+
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|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
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"w": 0.49178410649785825,
|
| 95 |
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"xyz": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
+
]
|
| 100 |
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}
|
| 101 |
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},
|
| 102 |
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"grasp_25": {
|
| 103 |
+
"confidence": 0.871744692325592,
|
| 104 |
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"position": [
|
| 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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"orientation": {
|
| 110 |
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"w": 0.493870155245596,
|
| 111 |
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"xyz": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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]
|
| 116 |
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}
|
| 117 |
+
},
|
| 118 |
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"grasp_26": {
|
| 119 |
+
"confidence": 0.8707424998283386,
|
| 120 |
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"position": [
|
| 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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"orientation": {
|
| 126 |
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"w": 0.5563686929451526,
|
| 127 |
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"xyz": [
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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]
|
| 132 |
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}
|
| 133 |
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},
|
| 134 |
+
"grasp_28": {
|
| 135 |
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"confidence": 0.867300271987915,
|
| 136 |
+
"position": [
|
| 137 |
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|
| 138 |
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0.12409010365081485,
|
| 139 |
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|
| 140 |
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],
|
| 141 |
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"orientation": {
|
| 142 |
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"w": 0.47581102799309893,
|
| 143 |
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"xyz": [
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| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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]
|
| 148 |
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}
|
| 149 |
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},
|
| 150 |
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"grasp_29": {
|
| 151 |
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"confidence": 0.8672405481338501,
|
| 152 |
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"position": [
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.49338900399997987,
|
| 159 |
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"xyz": [
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| 160 |
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|
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|
| 162 |
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|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
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"grasp_30": {
|
| 167 |
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"confidence": 0.8661662340164185,
|
| 168 |
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"position": [
|
| 169 |
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|
| 170 |
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|
| 171 |
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-0.0021643610671162605
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.5093265698239676,
|
| 175 |
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"xyz": [
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_31": {
|
| 183 |
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"confidence": 0.8617683053016663,
|
| 184 |
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"position": [
|
| 185 |
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|
| 186 |
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|
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},
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| 296 |
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{
|
| 297 |
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"part_name": "top rim",
|
| 298 |
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"mask_color": "Magenta",
|
| 299 |
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"graspable": true,
|
| 300 |
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"grasp_scenarios": [
|
| 301 |
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{
|
| 302 |
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"scenario": "pinch the upper rim to reposition the empty bin",
|
| 303 |
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"confidence": 0.72
|
| 304 |
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},
|
| 305 |
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{
|
| 306 |
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"scenario": "grasp the rim to steady the bin during loading or unloading",
|
| 307 |
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"confidence": 0.77
|
| 308 |
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}
|
| 309 |
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],
|
| 310 |
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"functional_labels": [
|
| 311 |
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"reinforce the opening",
|
| 312 |
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"define the top edge",
|
| 313 |
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"support handling",
|
| 314 |
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"protect the upper perimeter"
|
| 315 |
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],
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| 316 |
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"semantic_description": "Thick dusty pink plastic rim with a smooth hard finish running around the rectangular opening, slightly rounded and visually sturdier than the side panels.",
|
| 317 |
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"id": 7,
|
| 318 |
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|
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}
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| 335 |
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}
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},
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| 337 |
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{
|
| 338 |
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"part_name": "left mesh side panel",
|
| 339 |
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"mask_color": "Yellow",
|
| 340 |
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"graspable": false,
|
| 341 |
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"grasp_scenarios": [],
|
| 342 |
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| 343 |
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"enclose contents",
|
| 344 |
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"provide side wall",
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| 345 |
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"allow visual permeability",
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| 346 |
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"reduce weight"
|
| 347 |
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],
|
| 348 |
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"semantic_description": "Semi-translucent very light pink mesh-like plastic panel with a fine textured pattern, set into one long side of the bin and appearing thin and lightweight.",
|
| 349 |
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"id": 3,
|
| 350 |
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"grasp_group": {}
|
| 351 |
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},
|
| 352 |
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{
|
| 353 |
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"part_name": "right mesh side panel",
|
| 354 |
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"mask_color": "Cyan",
|
| 355 |
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"graspable": false,
|
| 356 |
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"grasp_scenarios": [],
|
| 357 |
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| 358 |
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"enclose contents",
|
| 359 |
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"provide side wall",
|
| 360 |
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"allow visual permeability",
|
| 361 |
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"reduce weight"
|
| 362 |
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],
|
| 363 |
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"semantic_description": "Semi-translucent very light pink mesh-like plastic panel with a fine textured pattern, set into the opposite long side of the bin and appearing thin and lightweight.",
|
| 364 |
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"id": 6,
|
| 365 |
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"grasp_group": {}
|
| 366 |
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},
|
| 367 |
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{
|
| 368 |
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"part_name": "short end panels",
|
| 369 |
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"mask_color": "Pink",
|
| 370 |
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"graspable": false,
|
| 371 |
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"grasp_scenarios": [],
|
| 372 |
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"functional_labels": [
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| 373 |
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"close the bin ends",
|
| 374 |
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"support the handle mounts",
|
| 375 |
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"retain contents",
|
| 376 |
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"provide side structure"
|
| 377 |
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],
|
| 378 |
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"semantic_description": "Two small very light pink plastic end walls with a smooth hard semi-matte surface, located on the short sides beneath the handles and shaped as slightly tapered rectangles.",
|
| 379 |
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"id": 8,
|
| 380 |
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"grasp_group": {}
|
| 381 |
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},
|
| 382 |
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{
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| 383 |
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"part_name": "interior end wall",
|
| 384 |
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"mask_color": "Purple",
|
| 385 |
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"graspable": false,
|
| 386 |
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"grasp_scenarios": [],
|
| 387 |
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"functional_labels": [
|
| 388 |
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"form the inner wall of the short side",
|
| 389 |
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"bound the storage cavity",
|
| 390 |
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"support the handle mounting area from inside",
|
| 391 |
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"retain contents"
|
| 392 |
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],
|
| 393 |
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"semantic_description": "Flat pale pink interior wall visible inside the open top on a short side of the bin; it appears darker in some views due to shadow and interior lighting.",
|
| 394 |
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"id": 5,
|
| 395 |
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"grasp_group": {}
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| 396 |
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}
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| 397 |
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],
|
| 398 |
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"quality_check": {
|
| 399 |
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"success": false,
|
| 400 |
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"message": "Interior end wall mislabeled; purple mask is interior base/floor, not end wall."
|
| 401 |
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}
|
| 402 |
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}
|
dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f22a416ae0960c9b1c15d52d32cc0c6d13f9ebd014d905f21509fcd2bd40d8e4
|
| 3 |
+
size 3789396
|
dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|