Add asset bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9
Browse files
.gitattributes
CHANGED
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@@ -6064,3 +6064,4 @@ dataset/bedroom_supplies/storage/e04419582e9b539f8bcf74a4ee2bbe33/affordance/mes
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| 6064 |
dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6065 |
dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6066 |
dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6064 |
dataset/bedroom_supplies/storage/dfb77cf0a14855a2982543e83524625a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6065 |
dataset/bedroom_supplies/storage/e124f4923b3b5c9da9548a37ac60b79a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6066 |
dataset/bedroom_supplies/storage/e028a8310ee756aebccc3732ba821ad0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6067 |
+
dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,376 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bin body",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side walls to lift the empty or lightly loaded bin",
|
| 10 |
+
"confidence": 0.71
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bin while placing or sliding it",
|
| 14 |
+
"confidence": 0.77
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain stored items",
|
| 19 |
+
"form the main structure",
|
| 20 |
+
"provide side support",
|
| 21 |
+
"define the interior cavity"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large off-white to cream plastic tub body with a matte smooth hard surface, rounded rectangular shape, tapered sides, and a flower decal on the outer wall.",
|
| 24 |
+
"id": 5,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_51": {
|
| 27 |
+
"confidence": 0.8104273080825806,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04651426954660565,
|
| 30 |
+
-0.11895703178015538,
|
| 31 |
+
-0.002415598544757813
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5169041937614338,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.47552507476714906,
|
| 37 |
+
0.5131651681407927,
|
| 38 |
+
0.4933026129533185
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_52": {
|
| 43 |
+
"confidence": 0.8093141913414001,
|
| 44 |
+
"position": [
|
| 45 |
+
0.0032342775957658887,
|
| 46 |
+
-0.11423566591111012,
|
| 47 |
+
-0.00302762258797884
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.42958580941745417,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5751068735694848,
|
| 53 |
+
0.4107071925134915,
|
| 54 |
+
0.5621634267167953
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_56": {
|
| 59 |
+
"confidence": 0.8072100281715393,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.027295753941871226,
|
| 62 |
+
-0.11715191256371327,
|
| 63 |
+
-0.010727938497439027
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4997732424234872,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.4880963533762721,
|
| 69 |
+
0.49774491291044876,
|
| 70 |
+
0.5140414940936864
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_57": {
|
| 75 |
+
"confidence": 0.8058647513389587,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.0342916069785133,
|
| 78 |
+
-0.11527908992138691,
|
| 79 |
+
-0.009923296282067895
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5305351669994148,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.50413554975055,
|
| 85 |
+
-0.4702507976296274,
|
| 86 |
+
-0.49319770009937447
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "rim",
|
| 94 |
+
"mask_color": "Cyan",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "pinch the rim edge to reposition the bin on a shelf or table",
|
| 99 |
+
"confidence": 0.74
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the rim to tilt or steady the bin during pouring out contents",
|
| 103 |
+
"confidence": 0.69
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"stiffen the opening",
|
| 108 |
+
"provide an edge for handling",
|
| 109 |
+
"protect the top edge",
|
| 110 |
+
"define the opening"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Continuous rounded off-white plastic top rim with a smooth matte hard finish, medium thickness, and a raised lip running around the bin opening.",
|
| 113 |
+
"id": 6,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_65": {
|
| 116 |
+
"confidence": 0.5243174433708191,
|
| 117 |
+
"position": [
|
| 118 |
+
0.003754851291887462,
|
| 119 |
+
-0.00587032621842809,
|
| 120 |
+
-0.10623118584044278
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.716777544118948,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.014970645573120375,
|
| 126 |
+
-0.012587561910116785,
|
| 127 |
+
0.6970275355415254
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_68": {
|
| 132 |
+
"confidence": 0.36520594358444214,
|
| 133 |
+
"position": [
|
| 134 |
+
0.14303833188023418,
|
| 135 |
+
-0.008501017728121951,
|
| 136 |
+
0.03416734631173313
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.4869933177500371,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.5164369379692977,
|
| 142 |
+
-0.5061953335412818,
|
| 143 |
+
-0.4897924885793344
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_69": {
|
| 148 |
+
"confidence": 0.3615245223045349,
|
| 149 |
+
"position": [
|
| 150 |
+
0.14587609411682934,
|
| 151 |
+
-0.0003639961068984121,
|
| 152 |
+
0.03184407274238765
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.49352380922318534,
|
| 156 |
+
"xyz": [
|
| 157 |
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-0.495200961775324,
|
| 158 |
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-0.5163409094428532,
|
| 159 |
+
0.49457286866786276
|
| 160 |
+
]
|
| 161 |
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}
|
| 162 |
+
},
|
| 163 |
+
"grasp_71": {
|
| 164 |
+
"confidence": 0.3175334334373474,
|
| 165 |
+
"position": [
|
| 166 |
+
0.1464952671667561,
|
| 167 |
+
0.0014821798249613494,
|
| 168 |
+
0.03105975012294948
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
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"w": 0.488582236921462,
|
| 172 |
+
"xyz": [
|
| 173 |
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0.5135711571794973,
|
| 174 |
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-0.49152860027861,
|
| 175 |
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-0.5058969256541127
|
| 176 |
+
]
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
+
"grasp_76": {
|
| 180 |
+
"confidence": 0.42880958318710327,
|
| 181 |
+
"position": [
|
| 182 |
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0.021751969470642507,
|
| 183 |
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-0.009483852685661986,
|
| 184 |
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-0.10375286196358502
|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.7110451159325082,
|
| 188 |
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"xyz": [
|
| 189 |
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-0.08796254823521085,
|
| 190 |
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-0.08510516813571367,
|
| 191 |
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0.6924121197473984
|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"part_name": "front handle grip",
|
| 199 |
+
"mask_color": "Red",
|
| 200 |
+
"graspable": true,
|
| 201 |
+
"grasp_scenarios": [
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grasp the front handle to pull the bin forward",
|
| 204 |
+
"confidence": 0.94
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"scenario": "lift or carry the bin using the front handle with support from another side",
|
| 208 |
+
"confidence": 0.87
|
| 209 |
+
}
|
| 210 |
+
],
|
| 211 |
+
"functional_labels": [
|
| 212 |
+
"provide a handhold",
|
| 213 |
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"pull the bin",
|
| 214 |
+
"assist lifting",
|
| 215 |
+
"indicate front access point"
|
| 216 |
+
],
|
| 217 |
+
"semantic_description": "Short integrated rectangular handle at one short side, made of off-white plastic with a smooth matte hard surface and a recessed slot for gripping.",
|
| 218 |
+
"id": 0,
|
| 219 |
+
"grasp_group": {
|
| 220 |
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"grasp_2": {
|
| 221 |
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"confidence": 0.8550519943237305,
|
| 222 |
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"position": [
|
| 223 |
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-0.07540284900460392,
|
| 224 |
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-0.03681557651725598,
|
| 225 |
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0.11648497427813709
|
| 226 |
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],
|
| 227 |
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"orientation": {
|
| 228 |
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"w": 0.16385513248833594,
|
| 229 |
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"xyz": [
|
| 230 |
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-0.9768259550277356,
|
| 231 |
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0.02968871550109503,
|
| 232 |
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-0.13446608982668137
|
| 233 |
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]
|
| 234 |
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}
|
| 235 |
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},
|
| 236 |
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"grasp_16": {
|
| 237 |
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"confidence": 0.371614933013916,
|
| 238 |
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"position": [
|
| 239 |
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-0.03383050917182118,
|
| 240 |
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|
| 241 |
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0.11328480835072696
|
| 242 |
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],
|
| 243 |
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"orientation": {
|
| 244 |
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"w": 0.06964995300922788,
|
| 245 |
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"xyz": [
|
| 246 |
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-0.0474187135964914,
|
| 247 |
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-0.9740350840325901,
|
| 248 |
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|
| 249 |
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]
|
| 250 |
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}
|
| 251 |
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},
|
| 252 |
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"grasp_18": {
|
| 253 |
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"confidence": 0.8989295959472656,
|
| 254 |
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"position": [
|
| 255 |
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-0.07979102490935475,
|
| 256 |
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-0.02802423041430302,
|
| 257 |
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0.11485724593512714
|
| 258 |
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],
|
| 259 |
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"orientation": {
|
| 260 |
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"w": 0.15098115686056043,
|
| 261 |
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"xyz": [
|
| 262 |
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-0.9767375399163534,
|
| 263 |
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0.01024055356337683,
|
| 264 |
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-0.15193287812028078
|
| 265 |
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]
|
| 266 |
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}
|
| 267 |
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}
|
| 268 |
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}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"part_name": "rear handle grip",
|
| 272 |
+
"mask_color": "Green",
|
| 273 |
+
"graspable": true,
|
| 274 |
+
"grasp_scenarios": [
|
| 275 |
+
{
|
| 276 |
+
"scenario": "grasp the rear handle to pull or rotate the bin",
|
| 277 |
+
"confidence": 0.93
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"scenario": "carry the bin by the rear handle with a second gripper or supporting contact",
|
| 281 |
+
"confidence": 0.85
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"functional_labels": [
|
| 285 |
+
"provide a handhold",
|
| 286 |
+
"pull the bin",
|
| 287 |
+
"assist lifting",
|
| 288 |
+
"support two-sided carrying"
|
| 289 |
+
],
|
| 290 |
+
"semantic_description": "Matching integrated rectangular handle on the opposite short side, off-white plastic with a smooth matte hard finish and a recessed opening for fingers or gripper access.",
|
| 291 |
+
"id": 1,
|
| 292 |
+
"grasp_group": {
|
| 293 |
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"grasp_27": {
|
| 294 |
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"confidence": 0.8364560604095459,
|
| 295 |
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"position": [
|
| 296 |
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0.07953308464493603,
|
| 297 |
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0.026538734993664548,
|
| 298 |
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0.11856776173226535
|
| 299 |
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],
|
| 300 |
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"orientation": {
|
| 301 |
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"w": 0.15988287729084574,
|
| 302 |
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"xyz": [
|
| 303 |
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-0.018083250736479133,
|
| 304 |
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-0.9810700652952581,
|
| 305 |
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0.1077589373256817
|
| 306 |
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]
|
| 307 |
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}
|
| 308 |
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},
|
| 309 |
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"grasp_34": {
|
| 310 |
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"confidence": 0.5029809474945068,
|
| 311 |
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"position": [
|
| 312 |
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0.10351037920918316,
|
| 313 |
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0.09337503809365444,
|
| 314 |
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0.0005503760185092688
|
| 315 |
+
],
|
| 316 |
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"orientation": {
|
| 317 |
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"w": 0.3467171248429039,
|
| 318 |
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"xyz": [
|
| 319 |
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0.6024823432729147,
|
| 320 |
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0.3655633193879976,
|
| 321 |
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-0.6190038133186878
|
| 322 |
+
]
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
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"grasp_35": {
|
| 326 |
+
"confidence": 0.4566587209701538,
|
| 327 |
+
"position": [
|
| 328 |
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0.03274495841469616,
|
| 329 |
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0.004911002906737849,
|
| 330 |
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0.12883594329468906
|
| 331 |
+
],
|
| 332 |
+
"orientation": {
|
| 333 |
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"w": 0.023992696181313625,
|
| 334 |
+
"xyz": [
|
| 335 |
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0.12505773242841484,
|
| 336 |
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0.9918556507432805,
|
| 337 |
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-0.002698551173887639
|
| 338 |
+
]
|
| 339 |
+
}
|
| 340 |
+
}
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
{
|
| 344 |
+
"part_name": "flower blossom decal",
|
| 345 |
+
"mask_color": "Orange",
|
| 346 |
+
"graspable": false,
|
| 347 |
+
"grasp_scenarios": [],
|
| 348 |
+
"functional_labels": [
|
| 349 |
+
"decorate the bin",
|
| 350 |
+
"provide visual identification",
|
| 351 |
+
"indicate front side"
|
| 352 |
+
],
|
| 353 |
+
"semantic_description": "Small pink-orange flower graphic printed on the outer wall, flat and smooth with no structural depth, serving as a decorative marking.",
|
| 354 |
+
"id": 4,
|
| 355 |
+
"grasp_group": {}
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"part_name": "flower stem and leaves decal",
|
| 359 |
+
"mask_color": "Pink",
|
| 360 |
+
"graspable": false,
|
| 361 |
+
"grasp_scenarios": [],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"decorate the bin",
|
| 364 |
+
"provide visual identification",
|
| 365 |
+
"indicate front side"
|
| 366 |
+
],
|
| 367 |
+
"semantic_description": "Small green-and-blue stem and leaf graphic beneath the flower print, flat, smooth, and purely decorative on the bin exterior.",
|
| 368 |
+
"id": 8,
|
| 369 |
+
"grasp_group": {}
|
| 370 |
+
}
|
| 371 |
+
],
|
| 372 |
+
"quality_check": {
|
| 373 |
+
"success": true,
|
| 374 |
+
"message": "YES"
|
| 375 |
+
}
|
| 376 |
+
}
|
dataset/bedroom_supplies/storage/e239fe084b505610836b8f3f7d5d63c9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a8d4f1ae057cc473035806e5f7197341fad14fbd40d2333ab41eca566d7285d2
|
| 3 |
+
size 3788056
|