Add asset bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e
Browse files
.gitattributes
CHANGED
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@@ -5999,3 +5999,4 @@ dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/affordance/mes
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| 5999 |
dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6000 |
dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6001 |
dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5999 |
dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6000 |
dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6001 |
dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6002 |
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dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,372 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sliding top cover",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the exposed edge or top of the cover to slide it open or closed",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the cover while aligning it during closing",
|
| 14 |
+
"confidence": 0.55
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the storage compartments",
|
| 19 |
+
"slide to open access",
|
| 20 |
+
"protect stored contents",
|
| 21 |
+
"form the movable top enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded rectangular brown wooden top cover with a smooth satin finish and visible wood grain, carrying a centered circular engraved logo and sliding over the box opening.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_12": {
|
| 27 |
+
"confidence": 0.06579367071390152,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.03837277868296951,
|
| 30 |
+
-0.03696707705967128,
|
| 31 |
+
0.12636152235791087
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
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"w": 0.10514726235217295,
|
| 35 |
+
"xyz": [
|
| 36 |
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-0.008412094859376378,
|
| 37 |
+
0.994186681610684,
|
| 38 |
+
0.021590090038179115
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_13": {
|
| 43 |
+
"confidence": 0.057222168892621994,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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0.051727767335250974,
|
| 47 |
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|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.09813814283709471,
|
| 51 |
+
"xyz": [
|
| 52 |
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|
| 53 |
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0.9877427062536933,
|
| 54 |
+
-0.10810787121716918
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_15": {
|
| 59 |
+
"confidence": 0.04391529783606529,
|
| 60 |
+
"position": [
|
| 61 |
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-0.04225139447953552,
|
| 62 |
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0.03762574424035847,
|
| 63 |
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0.12265661684796214
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.07576144032030462,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.0321698148906757,
|
| 69 |
+
0.9950671181141392,
|
| 70 |
+
-0.05537813303565409
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_21": {
|
| 75 |
+
"confidence": 0.07763873785734177,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.027747924788855016,
|
| 78 |
+
-0.018357422901317477,
|
| 79 |
+
0.12320787785574794
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.029313132356258393,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.9980941901638714,
|
| 85 |
+
-0.0010588842012504637,
|
| 86 |
+
0.05429186492319799
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "organizer body",
|
| 94 |
+
"mask_color": "Purple",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the outer body from the sides to pick up the organizer",
|
| 99 |
+
"confidence": 0.93
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the body to stabilize it while sliding the top cover",
|
| 103 |
+
"confidence": 0.92
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"contain stored items",
|
| 108 |
+
"support all parts",
|
| 109 |
+
"provide main grasp surface",
|
| 110 |
+
"protect contents"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Rounded box-like brown wooden body with a smooth matte-to-satin finish and visible grain, forming the main container and outer walls around the compartments.",
|
| 113 |
+
"id": 5,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_22": {
|
| 116 |
+
"confidence": 0.9718154668807983,
|
| 117 |
+
"position": [
|
| 118 |
+
0.1232720228144899,
|
| 119 |
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0.10517891426570714,
|
| 120 |
+
-0.008792572189122438
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.23283532323642353,
|
| 124 |
+
"xyz": [
|
| 125 |
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0.6307710182305135,
|
| 126 |
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0.2696241331006891,
|
| 127 |
+
-0.6893609081341452
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_27": {
|
| 132 |
+
"confidence": 0.9688228368759155,
|
| 133 |
+
"position": [
|
| 134 |
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0.12665579339955002,
|
| 135 |
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0.09276261855848134,
|
| 136 |
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-0.014454756397753954
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.7264976246605778,
|
| 140 |
+
"xyz": [
|
| 141 |
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0.19592090636541784,
|
| 142 |
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-0.6338583023593534,
|
| 143 |
+
0.1789967942216013
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_32": {
|
| 148 |
+
"confidence": 0.9664872884750366,
|
| 149 |
+
"position": [
|
| 150 |
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0.127384370774962,
|
| 151 |
+
0.09165073861368,
|
| 152 |
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-0.016552577260881662
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
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"w": 0.2248366218708116,
|
| 156 |
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"xyz": [
|
| 157 |
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0.6403353550724213,
|
| 158 |
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0.17914846692341768,
|
| 159 |
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-0.7122674731510533
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
+
},
|
| 163 |
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"grasp_33": {
|
| 164 |
+
"confidence": 0.9663006663322449,
|
| 165 |
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"position": [
|
| 166 |
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0.1330838861176744,
|
| 167 |
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0.08989741583354771,
|
| 168 |
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-0.016047412995249033
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.16679011373535224,
|
| 172 |
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"xyz": [
|
| 173 |
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0.6278711627109496,
|
| 174 |
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0.23689509133569797,
|
| 175 |
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-0.7223846459450808
|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
+
"grasp_35": {
|
| 180 |
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"confidence": 0.9658288359642029,
|
| 181 |
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"position": [
|
| 182 |
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0.13664593419525772,
|
| 183 |
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0.0818686552811414,
|
| 184 |
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|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.19797225361223192,
|
| 188 |
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"xyz": [
|
| 189 |
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0.683098258952206,
|
| 190 |
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|
| 191 |
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|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
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},
|
| 195 |
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"grasp_36": {
|
| 196 |
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"confidence": 0.9653911590576172,
|
| 197 |
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"position": [
|
| 198 |
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0.14831326028797776,
|
| 199 |
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0.04994806204922497,
|
| 200 |
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0.007326730759814382
|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.05791671719483419,
|
| 204 |
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"xyz": [
|
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|
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|
| 207 |
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|
| 208 |
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]
|
| 209 |
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}
|
| 210 |
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},
|
| 211 |
+
"grasp_37": {
|
| 212 |
+
"confidence": 0.9652668237686157,
|
| 213 |
+
"position": [
|
| 214 |
+
0.13842596730683,
|
| 215 |
+
0.07985008438117802,
|
| 216 |
+
-0.011509279254823923
|
| 217 |
+
],
|
| 218 |
+
"orientation": {
|
| 219 |
+
"w": 0.709168652764825,
|
| 220 |
+
"xyz": [
|
| 221 |
+
0.1676736295830368,
|
| 222 |
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-0.6622995178834434,
|
| 223 |
+
0.17413995661401774
|
| 224 |
+
]
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
"grasp_38": {
|
| 228 |
+
"confidence": 0.9646053910255432,
|
| 229 |
+
"position": [
|
| 230 |
+
0.1383433254668489,
|
| 231 |
+
0.07468023081310093,
|
| 232 |
+
-0.03072988661006093
|
| 233 |
+
],
|
| 234 |
+
"orientation": {
|
| 235 |
+
"w": 0.19685103806925847,
|
| 236 |
+
"xyz": [
|
| 237 |
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0.5950119140444029,
|
| 238 |
+
0.1549063250170234,
|
| 239 |
+
-0.763684831213762
|
| 240 |
+
]
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"grasp_39": {
|
| 244 |
+
"confidence": 0.9645949602127075,
|
| 245 |
+
"position": [
|
| 246 |
+
0.12583885213825852,
|
| 247 |
+
0.09338820655830204,
|
| 248 |
+
-0.012495445553213358
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
+
"w": 0.7015309112895137,
|
| 252 |
+
"xyz": [
|
| 253 |
+
0.17143559813869794,
|
| 254 |
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-0.6549516243991839,
|
| 255 |
+
0.222491765899329
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
}
|
| 259 |
+
}
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"part_name": "side pull tab",
|
| 263 |
+
"mask_color": "Red",
|
| 264 |
+
"graspable": true,
|
| 265 |
+
"grasp_scenarios": [
|
| 266 |
+
{
|
| 267 |
+
"scenario": "pinch the small side tab to help pull or slide the top cover",
|
| 268 |
+
"confidence": 0.76
|
| 269 |
+
}
|
| 270 |
+
],
|
| 271 |
+
"functional_labels": [
|
| 272 |
+
"provide a pulling point",
|
| 273 |
+
"aid sliding cover manipulation",
|
| 274 |
+
"indicate the cover edge"
|
| 275 |
+
],
|
| 276 |
+
"semantic_description": "Small gold-toned metal tab with a reflective finish mounted on the side edge near the cover, appearing as a narrow hardware pull piece.",
|
| 277 |
+
"id": 0,
|
| 278 |
+
"grasp_group": {
|
| 279 |
+
"grasp_0": {
|
| 280 |
+
"confidence": 0.7832819223403931,
|
| 281 |
+
"position": [
|
| 282 |
+
0.15498482307884842,
|
| 283 |
+
0.04400995303876698,
|
| 284 |
+
0.018912193831056356
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.09413063044887279,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.7502109480626702,
|
| 290 |
+
0.17712532822077132,
|
| 291 |
+
-0.6300393447403831
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
}
|
| 295 |
+
}
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"part_name": "logo ring",
|
| 299 |
+
"mask_color": "Pink",
|
| 300 |
+
"graspable": false,
|
| 301 |
+
"grasp_scenarios": [],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"frame the logo",
|
| 304 |
+
"provide decorative branding detail",
|
| 305 |
+
"mark the lid center"
|
| 306 |
+
],
|
| 307 |
+
"semantic_description": "Circular engraved ring at the center of the wooden top cover, slightly darker than the surrounding wood due to the burned or carved marking and flush with the surface.",
|
| 308 |
+
"id": 8,
|
| 309 |
+
"grasp_group": {}
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"part_name": "compartment divider",
|
| 313 |
+
"mask_color": "Green",
|
| 314 |
+
"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
+
"functional_labels": [
|
| 317 |
+
"separate storage compartments",
|
| 318 |
+
"organize contents",
|
| 319 |
+
"support internal layout"
|
| 320 |
+
],
|
| 321 |
+
"semantic_description": "Thin brown wooden divider wall with a smooth finish and visible grain, located inside the organizer to split the interior into compartments.",
|
| 322 |
+
"id": 1,
|
| 323 |
+
"grasp_group": {}
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"part_name": "compartment divider",
|
| 327 |
+
"mask_color": "Cyan",
|
| 328 |
+
"graspable": false,
|
| 329 |
+
"grasp_scenarios": [],
|
| 330 |
+
"functional_labels": [
|
| 331 |
+
"separate storage compartments",
|
| 332 |
+
"organize contents",
|
| 333 |
+
"support internal layout"
|
| 334 |
+
],
|
| 335 |
+
"semantic_description": "Thin brown wooden divider wall with a smooth finish and visible grain, positioned inside the organizer as part of the internal compartment layout.",
|
| 336 |
+
"id": 6,
|
| 337 |
+
"grasp_group": {}
|
| 338 |
+
},
|
| 339 |
+
{
|
| 340 |
+
"part_name": "sliding track rail",
|
| 341 |
+
"mask_color": "Yellow",
|
| 342 |
+
"graspable": false,
|
| 343 |
+
"grasp_scenarios": [],
|
| 344 |
+
"functional_labels": [
|
| 345 |
+
"guide cover sliding",
|
| 346 |
+
"retain cover position",
|
| 347 |
+
"form part of the upper opening track"
|
| 348 |
+
],
|
| 349 |
+
"semantic_description": "Narrow brown wooden rail running along the upper opening near the front side beneath the sliding cover, with a smooth satin finish and visible grain.",
|
| 350 |
+
"id": 3,
|
| 351 |
+
"grasp_group": {}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "center logo medallion",
|
| 355 |
+
"mask_color": "Lime Green",
|
| 356 |
+
"graspable": false,
|
| 357 |
+
"grasp_scenarios": [],
|
| 358 |
+
"functional_labels": [
|
| 359 |
+
"brand marking",
|
| 360 |
+
"provide visual identification",
|
| 361 |
+
"decorate the top cover"
|
| 362 |
+
],
|
| 363 |
+
"semantic_description": "Small circular central emblem inside the engraved logo on the top cover, appearing as the innermost marked wooden area with a smooth finished surface.",
|
| 364 |
+
"id": 9,
|
| 365 |
+
"grasp_group": {}
|
| 366 |
+
}
|
| 367 |
+
],
|
| 368 |
+
"quality_check": {
|
| 369 |
+
"success": false,
|
| 370 |
+
"message": "Red part is a front latch, not side pull tab; several descriptions/functions for logo and rail are inaccurate."
|
| 371 |
+
}
|
| 372 |
+
}
|
dataset/bedroom_supplies/storage/32fd4240d2e550e5bd2cf244c600190e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:44dead6d3ac708f91850c74c2ef8dcf846711631cb278e1771bf5a20fabe3ac3
|
| 3 |
+
size 3816768
|