Add asset bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89
Browse files
.gitattributes
CHANGED
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@@ -5989,3 +5989,4 @@ dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/affordance/mes
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| 5989 |
dataset/bedroom_supplies/storage/2ac781ae697f5c9089c7e04443797c0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5991 |
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5989 |
dataset/bedroom_supplies/storage/2ac781ae697f5c9089c7e04443797c0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5990 |
dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5991 |
dataset/bedroom_supplies/storage/2b5cf315ade6580398aadc4b727b1deb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5992 |
+
dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,583 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid shell",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid shell to open the glasses case",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper half to stabilize the case while closing",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pick up the case by pinching the upper shell when partly open",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the contents",
|
| 23 |
+
"protect glasses from impact",
|
| 24 |
+
"provide opening surface",
|
| 25 |
+
"form upper enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The upper half is a medium-sized rounded burgundy leather shell with a matte to slightly satin finish, fine pebbled texture, stitched edges, and a hard padded structure forming the top of the case.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_25": {
|
| 31 |
+
"confidence": 0.12269674986600876,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10876926279161125,
|
| 34 |
+
0.04184898256789893,
|
| 35 |
+
0.07614772883243859
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5560620521755819,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.02951048558950338,
|
| 41 |
+
0.8256799653548106,
|
| 42 |
+
-0.09042521872923927
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_26": {
|
| 47 |
+
"confidence": 0.12048716098070145,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10428276157472283,
|
| 50 |
+
0.02088761597406119,
|
| 51 |
+
0.0528933082241565
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.1081126290156184,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7959340074856902,
|
| 57 |
+
-0.1368156208205914,
|
| 58 |
+
-0.5797259706745737
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_27": {
|
| 63 |
+
"confidence": 0.11339496821165085,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.11210286116693169,
|
| 66 |
+
0.03967548056971282,
|
| 67 |
+
0.06508708116598427
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5945382910269369,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.009803070036465437,
|
| 73 |
+
0.8031442055697949,
|
| 74 |
+
-0.03724923328462065
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_28": {
|
| 79 |
+
"confidence": 0.1133897453546524,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11024884379003197,
|
| 82 |
+
-0.041829289053566754,
|
| 83 |
+
0.05498030153103173
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6007086448874008,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.09195869432420357,
|
| 89 |
+
0.7941259295163439,
|
| 90 |
+
-0.007531969565322005
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_31": {
|
| 95 |
+
"confidence": 0.0942796915769577,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.11874315387103707,
|
| 98 |
+
0.021574036101810634,
|
| 99 |
+
0.04819710296578705
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.06170719603070313,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7693133126021946,
|
| 105 |
+
-0.014303054531864201,
|
| 106 |
+
-0.6357237384604457
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_33": {
|
| 111 |
+
"confidence": 0.08669861406087875,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.10862452781293541,
|
| 114 |
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],
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{
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},
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},
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{
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],
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},
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],
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}
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}
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},
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{
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"connect lid to base",
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"enable opening and closing",
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"guide rotational motion",
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"keep halves aligned"
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| 470 |
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],
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"semantic_description": "A narrow dark burgundy strip runs along the back seam between lid and base, appearing as a slim hard connector with a smooth finish that acts as the hinge area.",
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},
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{
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"part_name": "rim trim",
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"finish the edge",
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"help align closure"
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],
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"semantic_description": "A thin border follows the case opening perimeter, appearing as a narrow trim band with a smooth edge and contrasting seam line around the burgundy shell.",
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},
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{
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"part_name": "latch clasp",
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"graspable": true,
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{
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"scenario": "pinch the clasp to unlatch or close the glasses case",
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},
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{
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"scenario": "use a precise gripper hold on the clasp to pull the front edge open",
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}
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],
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"indicate front orientation"
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],
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"semantic_description": "The front clasp is a small gold-toned metal piece with a glossy reflective finish, hard smooth surface, and compact protruding shape centered on the front edge of the case.",
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"xyz": [
|
| 523 |
+
-0.011499591461559657,
|
| 524 |
+
-0.7619499421311517,
|
| 525 |
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-0.0021195030574879727
|
| 526 |
+
]
|
| 527 |
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}
|
| 528 |
+
},
|
| 529 |
+
"grasp_5": {
|
| 530 |
+
"confidence": 0.8875369429588318,
|
| 531 |
+
"position": [
|
| 532 |
+
0.13840126001741737,
|
| 533 |
+
0.03122230141889304,
|
| 534 |
+
0.020920901792123914
|
| 535 |
+
],
|
| 536 |
+
"orientation": {
|
| 537 |
+
"w": 0.11752082034023814,
|
| 538 |
+
"xyz": [
|
| 539 |
+
0.8537739868014331,
|
| 540 |
+
0.061803141108740633,
|
| 541 |
+
-0.5034274605112805
|
| 542 |
+
]
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"grasp_10": {
|
| 546 |
+
"confidence": 0.7847219109535217,
|
| 547 |
+
"position": [
|
| 548 |
+
0.1277554234256968,
|
| 549 |
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0.006645350134931505,
|
| 550 |
+
0.043600083561614156
|
| 551 |
+
],
|
| 552 |
+
"orientation": {
|
| 553 |
+
"w": 0.43118626521585995,
|
| 554 |
+
"xyz": [
|
| 555 |
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-0.053295183442943546,
|
| 556 |
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-0.900336120432674,
|
| 557 |
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0.025157471161126953
|
| 558 |
+
]
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
{
|
| 564 |
+
"part_name": "base interior lining",
|
| 565 |
+
"mask_color": "Yellow",
|
| 566 |
+
"graspable": false,
|
| 567 |
+
"grasp_scenarios": [],
|
| 568 |
+
"functional_labels": [
|
| 569 |
+
"cushion stored glasses",
|
| 570 |
+
"protect frames from scratches",
|
| 571 |
+
"form interior resting surface",
|
| 572 |
+
"reduce sliding inside the case"
|
| 573 |
+
],
|
| 574 |
+
"semantic_description": "The base interior is a warm red to orange soft lining with a matte finish and slightly plush texture, shaped as a shallow rounded tray inside the lower half.",
|
| 575 |
+
"id": 3,
|
| 576 |
+
"grasp_group": {}
|
| 577 |
+
}
|
| 578 |
+
],
|
| 579 |
+
"quality_check": {
|
| 580 |
+
"success": true,
|
| 581 |
+
"message": "YES"
|
| 582 |
+
}
|
| 583 |
+
}
|
dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2ac55e21039706ff3159b45a141e54e503e97f15301dc1295bf74ae2460560f
|
| 3 |
+
size 3789800
|