Add asset bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e
Browse files
.gitattributes
CHANGED
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@@ -6052,3 +6052,4 @@ dataset/bedroom_supplies/storage/cfc0cc1ac0f1563daf5480b1b767f53c/affordance/mes
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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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| 6053 |
dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6054 |
dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/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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| 6053 |
dataset/bedroom_supplies/storage/d2a33e9d0c925736b94a81eea7dd56d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6054 |
dataset/bedroom_supplies/storage/d36077fd68ae5265a516ef2eefb78fa0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6055 |
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dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "case lid",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the glasses case",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while placing glasses inside",
|
| 14 |
+
"confidence": 0.66
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the case opening",
|
| 19 |
+
"protect the glasses",
|
| 20 |
+
"open and close access",
|
| 21 |
+
"provide top enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Curved dark burgundy leather lid with a matte smooth slightly padded surface, medium-size top half of the case, with visible light stitching around the edge.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "case base",
|
| 29 |
+
"mask_color": "Blue",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the base to pick up the glasses case",
|
| 34 |
+
"confidence": 0.95
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the base while opening or closing the lid",
|
| 38 |
+
"confidence": 0.92
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "stabilize the case during insertion or removal of glasses",
|
| 42 |
+
"confidence": 0.9
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"support stored glasses",
|
| 47 |
+
"form the main structure",
|
| 48 |
+
"provide main grasp surface",
|
| 49 |
+
"rest on a table"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Rigid dark burgundy leather base with a matte smooth slightly padded finish, larger lower half of the case with rounded rectangular shape and light edge stitching.",
|
| 52 |
+
"id": 2,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_20": {
|
| 55 |
+
"confidence": 0.9725725054740906,
|
| 56 |
+
"position": [
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| 57 |
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|
| 58 |
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|
| 59 |
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-0.010119942715391517
|
| 60 |
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],
|
| 61 |
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"orientation": {
|
| 62 |
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"w": 0.21284249179507417,
|
| 63 |
+
"xyz": [
|
| 64 |
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|
| 65 |
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|
| 66 |
+
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|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
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"grasp_22": {
|
| 71 |
+
"confidence": 0.9707273244857788,
|
| 72 |
+
"position": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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],
|
| 77 |
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"orientation": {
|
| 78 |
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"w": 0.20432023402137475,
|
| 79 |
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"xyz": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_24": {
|
| 87 |
+
"confidence": 0.9685479998588562,
|
| 88 |
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"position": [
|
| 89 |
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|
| 90 |
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0.11521751515101641,
|
| 91 |
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|
| 92 |
+
],
|
| 93 |
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"orientation": {
|
| 94 |
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"w": 0.2146938684081121,
|
| 95 |
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"xyz": [
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| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
+
]
|
| 100 |
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}
|
| 101 |
+
},
|
| 102 |
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"grasp_25": {
|
| 103 |
+
"confidence": 0.9682967066764832,
|
| 104 |
+
"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": 0.3399679255975863,
|
| 111 |
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"xyz": [
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|
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| 114 |
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|
| 115 |
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]
|
| 116 |
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}
|
| 117 |
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},
|
| 118 |
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"grasp_26": {
|
| 119 |
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"confidence": 0.9677315950393677,
|
| 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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|
| 127 |
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| 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 |
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"grasp_29": {
|
| 135 |
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"confidence": 0.966498613357544,
|
| 136 |
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"position": [
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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],
|
| 141 |
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"orientation": {
|
| 142 |
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"w": 0.20215236982561088,
|
| 143 |
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"xyz": [
|
| 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_30": {
|
| 151 |
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"confidence": 0.9653573632240295,
|
| 152 |
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"position": [
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
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],
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|
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|
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|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
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"grasp_31": {
|
| 167 |
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"confidence": 0.9653412699699402,
|
| 168 |
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"position": [
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|
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],
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"orientation": {
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"xyz": [
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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_34": {
|
| 183 |
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"confidence": 0.9638662338256836,
|
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"position": [
|
| 185 |
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|
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|
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],
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"orientation": {
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"xyz": [
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|
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|
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},
|
| 198 |
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"grasp_36": {
|
| 199 |
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"confidence": 0.9631022214889526,
|
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"position": [
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|
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|
| 204 |
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],
|
| 205 |
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"orientation": {
|
| 206 |
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"w": 0.468952509967531,
|
| 207 |
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"xyz": [
|
| 208 |
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0.5104575494328328,
|
| 209 |
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0.4812981491407555,
|
| 210 |
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-0.536533992637804
|
| 211 |
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]
|
| 212 |
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}
|
| 213 |
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},
|
| 214 |
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"grasp_37": {
|
| 215 |
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"confidence": 0.9628373980522156,
|
| 216 |
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"position": [
|
| 217 |
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0.08511750871548429,
|
| 218 |
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0.1439295344753191,
|
| 219 |
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-0.021993759786710143
|
| 220 |
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],
|
| 221 |
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"orientation": {
|
| 222 |
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"w": 0.34544490642790393,
|
| 223 |
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"xyz": [
|
| 224 |
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0.6118801802923208,
|
| 225 |
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0.3321627670161247,
|
| 226 |
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-0.6292363290502585
|
| 227 |
+
]
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"grasp_38": {
|
| 231 |
+
"confidence": 0.9628066420555115,
|
| 232 |
+
"position": [
|
| 233 |
+
0.06038003886351362,
|
| 234 |
+
0.1596465640468523,
|
| 235 |
+
-0.009795025689527392
|
| 236 |
+
],
|
| 237 |
+
"orientation": {
|
| 238 |
+
"w": 0.42871361258141205,
|
| 239 |
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"xyz": [
|
| 240 |
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0.575287771059811,
|
| 241 |
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0.43104063180358454,
|
| 242 |
+
-0.5472226170314929
|
| 243 |
+
]
|
| 244 |
+
}
|
| 245 |
+
},
|
| 246 |
+
"grasp_39": {
|
| 247 |
+
"confidence": 0.9627751708030701,
|
| 248 |
+
"position": [
|
| 249 |
+
0.08775958890328184,
|
| 250 |
+
0.14645514718722552,
|
| 251 |
+
-0.012650239979848266
|
| 252 |
+
],
|
| 253 |
+
"orientation": {
|
| 254 |
+
"w": 0.6118808000487731,
|
| 255 |
+
"xyz": [
|
| 256 |
+
0.3158288984481365,
|
| 257 |
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-0.6387237127544698,
|
| 258 |
+
0.343345325003641
|
| 259 |
+
]
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"part_name": "interior base lining",
|
| 266 |
+
"mask_color": "Orange",
|
| 267 |
+
"graspable": false,
|
| 268 |
+
"grasp_scenarios": [],
|
| 269 |
+
"functional_labels": [
|
| 270 |
+
"cushion the glasses",
|
| 271 |
+
"protect lenses from scratches",
|
| 272 |
+
"line the storage cavity",
|
| 273 |
+
"provide a soft contact surface"
|
| 274 |
+
],
|
| 275 |
+
"semantic_description": "Bright red-orange interior lining, likely soft fabric or suede-like material, with a matte fine-textured surface covering the inside bottom cavity panel.",
|
| 276 |
+
"id": 4,
|
| 277 |
+
"grasp_group": {}
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"part_name": "clasp",
|
| 281 |
+
"mask_color": "Yellow",
|
| 282 |
+
"graspable": true,
|
| 283 |
+
"grasp_scenarios": [
|
| 284 |
+
{
|
| 285 |
+
"scenario": "pinch the clasp to open the glasses case",
|
| 286 |
+
"confidence": 0.83
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"scenario": "hold the clasp area to pull the case shut",
|
| 290 |
+
"confidence": 0.58
|
| 291 |
+
}
|
| 292 |
+
],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"latch the case closed",
|
| 295 |
+
"enable opening",
|
| 296 |
+
"secure the lid to the base",
|
| 297 |
+
"indicate front orientation"
|
| 298 |
+
],
|
| 299 |
+
"semantic_description": "Small gold-toned metal clasp at the front center, glossy and reflective with a hard smooth finish and compact protruding shape.",
|
| 300 |
+
"id": 3,
|
| 301 |
+
"grasp_group": {
|
| 302 |
+
"grasp_40": {
|
| 303 |
+
"confidence": 0.9454479813575745,
|
| 304 |
+
"position": [
|
| 305 |
+
0.1421446549356915,
|
| 306 |
+
-0.030594286625273526,
|
| 307 |
+
0.00221732456702739
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.10129745263295865,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.7564195327203184,
|
| 313 |
+
0.11533213218866767,
|
| 314 |
+
0.6358197982872696
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_41": {
|
| 319 |
+
"confidence": 0.9636479020118713,
|
| 320 |
+
"position": [
|
| 321 |
+
0.137379338091705,
|
| 322 |
+
0.03559093258809298,
|
| 323 |
+
-0.017322946107015014
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.1737097330659564,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.6890084515009379,
|
| 329 |
+
0.1281677861356172,
|
| 330 |
+
-0.6918564164590283
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"part_name": "logo emblem",
|
| 338 |
+
"mask_color": "Purple",
|
| 339 |
+
"graspable": false,
|
| 340 |
+
"grasp_scenarios": [],
|
| 341 |
+
"functional_labels": [
|
| 342 |
+
"brand marking",
|
| 343 |
+
"identify the case",
|
| 344 |
+
"decorate the lid interior"
|
| 345 |
+
],
|
| 346 |
+
"semantic_description": "Small gold Gucci double-G logo and lettering on the inner lid, with a glossy stamped or printed appearance and fine decorative detailing.",
|
| 347 |
+
"id": 5,
|
| 348 |
+
"grasp_group": {}
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"part_name": "side gusset",
|
| 352 |
+
"mask_color": "Pink",
|
| 353 |
+
"graspable": false,
|
| 354 |
+
"grasp_scenarios": [],
|
| 355 |
+
"functional_labels": [
|
| 356 |
+
"connect lid and base",
|
| 357 |
+
"limit opening range",
|
| 358 |
+
"enclose the side gap",
|
| 359 |
+
"help retain contents"
|
| 360 |
+
],
|
| 361 |
+
"semantic_description": "Small bright red side panel inside the case, likely leather or lined material, with a smooth matte finish forming the triangular side connection between lid and base.",
|
| 362 |
+
"id": 8,
|
| 363 |
+
"grasp_group": {}
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"part_name": "rear hinge seam",
|
| 367 |
+
"mask_color": "Maroon",
|
| 368 |
+
"graspable": false,
|
| 369 |
+
"grasp_scenarios": [],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"connect lid to base",
|
| 372 |
+
"enable pivoting motion",
|
| 373 |
+
"support repeated opening and closing"
|
| 374 |
+
],
|
| 375 |
+
"semantic_description": "Narrow dark red rear seam along the back between lid and base, likely leather-covered, with a smooth matte surface forming the hinge connection.",
|
| 376 |
+
"id": 12,
|
| 377 |
+
"grasp_group": {}
|
| 378 |
+
}
|
| 379 |
+
],
|
| 380 |
+
"quality_check": {
|
| 381 |
+
"success": true,
|
| 382 |
+
"message": "YES"
|
| 383 |
+
}
|
| 384 |
+
}
|
dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:352655bed80f456e03dbe4990b52d9411ba20527a26183df00a91eae9da47a9a
|
| 3 |
+
size 3796624
|