Add asset bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1
Browse files
.gitattributes
CHANGED
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@@ -6048,4 +6048,5 @@ dataset/bedroom_supplies/storage/681bd55f8fc959ac8a378c9730f00c8e/affordance/mes
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| 6048 |
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6049 |
dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6050 |
dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6051 |
-
dataset/bedroom_supplies/storage/
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| 6048 |
dataset/bedroom_supplies/storage/683e5f3988b05cc9a02ef32ce2d3435a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6049 |
dataset/bedroom_supplies/storage/69be822c6c705eeebe116ba4eb6ab43a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6050 |
dataset/bedroom_supplies/storage/cf3f7c78518f5ec08a013aeec04ae271/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6051 |
+
dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6052 |
+
dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1157 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "frame",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top rim or outer edge to pick up the holder",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to reposition the holder on a table",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the holder by clamping a side edge during insertion or removal of contents",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide structural support",
|
| 23 |
+
"define the opening",
|
| 24 |
+
"protect panel edges",
|
| 25 |
+
"main grasp surface",
|
| 26 |
+
"maintain shape"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rigid light beige frame with a matte smooth finish and slightly rounded thick edges forming the holder's top rim, vertical corner borders, and bottom perimeter.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "inner wall panel",
|
| 34 |
+
"mask_color": "Cyan",
|
| 35 |
+
"graspable": true,
|
| 36 |
+
"grasp_scenarios": [
|
| 37 |
+
{
|
| 38 |
+
"scenario": "place gripper fingers against the interior wall to stabilize the holder while manipulating contents",
|
| 39 |
+
"confidence": 0.58
|
| 40 |
+
}
|
| 41 |
+
],
|
| 42 |
+
"functional_labels": [
|
| 43 |
+
"form the interior cavity",
|
| 44 |
+
"guide stored items",
|
| 45 |
+
"provide contact surface for contents",
|
| 46 |
+
"help contain items upright"
|
| 47 |
+
],
|
| 48 |
+
"semantic_description": "Medium tan interior panel with a slightly glossy smooth finish and broad flat trapezoidal shape lining one interior side of the cavity.",
|
| 49 |
+
"id": 6,
|
| 50 |
+
"grasp_group": {
|
| 51 |
+
"grasp_99": {
|
| 52 |
+
"confidence": 0.9242748022079468,
|
| 53 |
+
"position": [
|
| 54 |
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-0.07897517178207636,
|
| 55 |
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0.0037485950742848217,
|
| 56 |
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0.17177949915640056
|
| 57 |
+
],
|
| 58 |
+
"orientation": {
|
| 59 |
+
"w": 0.01803581990407469,
|
| 60 |
+
"xyz": [
|
| 61 |
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0.010904247302035562,
|
| 62 |
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0.9994119923114877,
|
| 63 |
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|
| 64 |
+
]
|
| 65 |
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}
|
| 66 |
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},
|
| 67 |
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"grasp_100": {
|
| 68 |
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"confidence": 0.9238806366920471,
|
| 69 |
+
"position": [
|
| 70 |
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|
| 71 |
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|
| 72 |
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0.17025412688963115
|
| 73 |
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],
|
| 74 |
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"orientation": {
|
| 75 |
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"w": 0.003592169162534109,
|
| 76 |
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"xyz": [
|
| 77 |
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0.008684606896207793,
|
| 78 |
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|
| 79 |
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|
| 80 |
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]
|
| 81 |
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}
|
| 82 |
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},
|
| 83 |
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"grasp_101": {
|
| 84 |
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"confidence": 0.9230231642723083,
|
| 85 |
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"position": [
|
| 86 |
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|
| 87 |
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|
| 88 |
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0.16559295426122844
|
| 89 |
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],
|
| 90 |
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"orientation": {
|
| 91 |
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"w": 0.03449692313863669,
|
| 92 |
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"xyz": [
|
| 93 |
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0.0117221778115216,
|
| 94 |
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0.9992931253617475,
|
| 95 |
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0.009262960977603216
|
| 96 |
+
]
|
| 97 |
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}
|
| 98 |
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},
|
| 99 |
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"grasp_102": {
|
| 100 |
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"confidence": 0.9203498363494873,
|
| 101 |
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"position": [
|
| 102 |
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|
| 103 |
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0.012461514212191105,
|
| 104 |
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|
| 105 |
+
],
|
| 106 |
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"orientation": {
|
| 107 |
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|
| 108 |
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|
| 109 |
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0.014564847558513967,
|
| 110 |
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|
| 111 |
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|
| 112 |
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]
|
| 113 |
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}
|
| 114 |
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},
|
| 115 |
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"grasp_103": {
|
| 116 |
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"confidence": 0.9196788668632507,
|
| 117 |
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"position": [
|
| 118 |
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|
| 119 |
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0.008873307146131992,
|
| 120 |
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0.1737908727955073
|
| 121 |
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],
|
| 122 |
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"orientation": {
|
| 123 |
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"w": 0.03156526424251349,
|
| 124 |
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"xyz": [
|
| 125 |
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|
| 126 |
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0.9994647533448968,
|
| 127 |
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-0.007275350577474888
|
| 128 |
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]
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"grasp_104": {
|
| 132 |
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"confidence": 0.9169607162475586,
|
| 133 |
+
"position": [
|
| 134 |
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-0.09754078928381205,
|
| 135 |
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0.002423338941298425,
|
| 136 |
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0.17355343769304454
|
| 137 |
+
],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.05885519794666075,
|
| 140 |
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"xyz": [
|
| 141 |
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0.0321554794821199,
|
| 142 |
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0.997744131911493,
|
| 143 |
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-0.0029560193023507294
|
| 144 |
+
]
|
| 145 |
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}
|
| 146 |
+
},
|
| 147 |
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"grasp_105": {
|
| 148 |
+
"confidence": 0.9142135977745056,
|
| 149 |
+
"position": [
|
| 150 |
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-0.08392025623470545,
|
| 151 |
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0.010996226221323013,
|
| 152 |
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0.17466957936994731
|
| 153 |
+
],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.02715571187867066,
|
| 156 |
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"xyz": [
|
| 157 |
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0.016705733914335316,
|
| 158 |
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0.9992639216674287,
|
| 159 |
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-0.021333087460026535
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
+
},
|
| 163 |
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"grasp_106": {
|
| 164 |
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"confidence": 0.9114841222763062,
|
| 165 |
+
"position": [
|
| 166 |
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|
| 167 |
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0.020523237995803356,
|
| 168 |
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0.1680010266136378
|
| 169 |
+
],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.0017914006506032454,
|
| 172 |
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"xyz": [
|
| 173 |
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0.020359992097351967,
|
| 174 |
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0.9988592812999881,
|
| 175 |
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-0.04315550679085973
|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_107": {
|
| 180 |
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"confidence": 0.9113161563873291,
|
| 181 |
+
"position": [
|
| 182 |
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|
| 183 |
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0.02101412508636713,
|
| 184 |
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0.170821265084669
|
| 185 |
+
],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.0412606397071433,
|
| 188 |
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"xyz": [
|
| 189 |
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0.01044244994941159,
|
| 190 |
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0.9970821066354214,
|
| 191 |
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-0.06337024126103276
|
| 192 |
+
]
|
| 193 |
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}
|
| 194 |
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},
|
| 195 |
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"grasp_108": {
|
| 196 |
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"confidence": 0.9110152125358582,
|
| 197 |
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"position": [
|
| 198 |
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|
| 199 |
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0.021400894038379192,
|
| 200 |
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0.1710583574604243
|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.039695987491755055,
|
| 204 |
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|
| 205 |
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0.012972264666699538,
|
| 206 |
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0.9899100719475148,
|
| 207 |
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|
| 208 |
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]
|
| 209 |
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}
|
| 210 |
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},
|
| 211 |
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"grasp_109": {
|
| 212 |
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"confidence": 0.9099182486534119,
|
| 213 |
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"position": [
|
| 214 |
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|
| 215 |
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0.0011812319280579686,
|
| 216 |
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0.1700537360738963
|
| 217 |
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],
|
| 218 |
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"orientation": {
|
| 219 |
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"w": 0.0455803994369726,
|
| 220 |
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"xyz": [
|
| 221 |
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0.015147817313617485,
|
| 222 |
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0.9878074318331419,
|
| 223 |
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|
| 224 |
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]
|
| 225 |
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}
|
| 226 |
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},
|
| 227 |
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"grasp_110": {
|
| 228 |
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"confidence": 0.9032251834869385,
|
| 229 |
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"position": [
|
| 230 |
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|
| 231 |
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|
| 232 |
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0.16847366164438426
|
| 233 |
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],
|
| 234 |
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"orientation": {
|
| 235 |
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"w": 0.043869197317800625,
|
| 236 |
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|
| 237 |
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0.02786274695052272,
|
| 238 |
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0.9822057758739303,
|
| 239 |
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| 240 |
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]
|
| 241 |
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}
|
| 242 |
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},
|
| 243 |
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"grasp_111": {
|
| 244 |
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"confidence": 0.9028326272964478,
|
| 245 |
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"position": [
|
| 246 |
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|
| 247 |
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|
| 248 |
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0.1639037139248103
|
| 249 |
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],
|
| 250 |
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"orientation": {
|
| 251 |
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| 252 |
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]
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}
|
| 258 |
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},
|
| 259 |
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|
| 260 |
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|
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| 1061 |
+
"orientation": {
|
| 1062 |
+
"w": 0.08069490218846076,
|
| 1063 |
+
"xyz": [
|
| 1064 |
+
0.713004028564266,
|
| 1065 |
+
0.6935012631979262,
|
| 1066 |
+
0.06457233118606093
|
| 1067 |
+
]
|
| 1068 |
+
}
|
| 1069 |
+
},
|
| 1070 |
+
"grasp_49": {
|
| 1071 |
+
"confidence": 0.8257454633712769,
|
| 1072 |
+
"position": [
|
| 1073 |
+
-0.06428106967359781,
|
| 1074 |
+
0.06597992684692144,
|
| 1075 |
+
0.16180723975412548
|
| 1076 |
+
],
|
| 1077 |
+
"orientation": {
|
| 1078 |
+
"w": 0.13700149753157284,
|
| 1079 |
+
"xyz": [
|
| 1080 |
+
0.7017583023801258,
|
| 1081 |
+
0.6727605499944028,
|
| 1082 |
+
0.19015550764019049
|
| 1083 |
+
]
|
| 1084 |
+
}
|
| 1085 |
+
},
|
| 1086 |
+
"grasp_52": {
|
| 1087 |
+
"confidence": 0.763709306716919,
|
| 1088 |
+
"position": [
|
| 1089 |
+
0.051273650489747524,
|
| 1090 |
+
0.10757938679307699,
|
| 1091 |
+
0.1699200279545039
|
| 1092 |
+
],
|
| 1093 |
+
"orientation": {
|
| 1094 |
+
"w": 0.20064247283754594,
|
| 1095 |
+
"xyz": [
|
| 1096 |
+
0.7577261322397553,
|
| 1097 |
+
0.6177729417837701,
|
| 1098 |
+
-0.0628514042360401
|
| 1099 |
+
]
|
| 1100 |
+
}
|
| 1101 |
+
}
|
| 1102 |
+
}
|
| 1103 |
+
},
|
| 1104 |
+
{
|
| 1105 |
+
"part_name": "outer side panel",
|
| 1106 |
+
"mask_color": "Pink",
|
| 1107 |
+
"graspable": true,
|
| 1108 |
+
"grasp_scenarios": [
|
| 1109 |
+
{
|
| 1110 |
+
"scenario": "grasp the exterior wall to lift or steady the empty holder",
|
| 1111 |
+
"confidence": 0.72
|
| 1112 |
+
},
|
| 1113 |
+
{
|
| 1114 |
+
"scenario": "push or nudge against the side panel to reposition the holder",
|
| 1115 |
+
"confidence": 0.63
|
| 1116 |
+
}
|
| 1117 |
+
],
|
| 1118 |
+
"functional_labels": [
|
| 1119 |
+
"form the container wall",
|
| 1120 |
+
"support stored items",
|
| 1121 |
+
"provide exterior contact surface",
|
| 1122 |
+
"help maintain upright shape"
|
| 1123 |
+
],
|
| 1124 |
+
"semantic_description": "Tan outer side panel with a leather-like matte finish, smooth slightly padded appearance, visible stitched border, and a large flat trapezoidal surface on one exterior face of the holder.",
|
| 1125 |
+
"id": 8,
|
| 1126 |
+
"grasp_group": {}
|
| 1127 |
+
},
|
| 1128 |
+
{
|
| 1129 |
+
"part_name": "base panel",
|
| 1130 |
+
"mask_color": "Light Pink",
|
| 1131 |
+
"graspable": true,
|
| 1132 |
+
"grasp_scenarios": [
|
| 1133 |
+
{
|
| 1134 |
+
"scenario": "support the holder from below by contacting the base while lifting",
|
| 1135 |
+
"confidence": 0.78
|
| 1136 |
+
},
|
| 1137 |
+
{
|
| 1138 |
+
"scenario": "press against the base to steady the holder on a surface",
|
| 1139 |
+
"confidence": 0.64
|
| 1140 |
+
}
|
| 1141 |
+
],
|
| 1142 |
+
"functional_labels": [
|
| 1143 |
+
"form the bottom of the container",
|
| 1144 |
+
"support stored items from below",
|
| 1145 |
+
"provide standing surface",
|
| 1146 |
+
"close the underside"
|
| 1147 |
+
],
|
| 1148 |
+
"semantic_description": "Tan bottom panel with a leather-like matte finish, stitched border, and broad flat polygonal surface forming the base underside of the holder.",
|
| 1149 |
+
"id": 56,
|
| 1150 |
+
"grasp_group": {}
|
| 1151 |
+
}
|
| 1152 |
+
],
|
| 1153 |
+
"quality_check": {
|
| 1154 |
+
"success": false,
|
| 1155 |
+
"message": "Several mask colors are misidentified and one part color/material description is inaccurate."
|
| 1156 |
+
}
|
| 1157 |
+
}
|
dataset/bedroom_supplies/storage/c979fa8c7640556fa245ecb30f1059d1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a7074fe20573a30023fe45417c31fc438c329972bd18f1cf6816051546428161
|
| 3 |
+
size 3786116
|