Add asset livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98
Browse files
.gitattributes
CHANGED
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@@ -7682,3 +7682,4 @@ dataset/livingroom_supplies/ornaments/40e827adbd865f81870b26a246d46e86/affordanc
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| 7682 |
dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7683 |
dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7684 |
dataset/livingroom_supplies/ornaments/44aeccb4dd7f57b8bfcfcb166ee925ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7682 |
dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7683 |
dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7684 |
dataset/livingroom_supplies/ornaments/44aeccb4dd7f57b8bfcfcb166ee925ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7685 |
+
dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1936 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "candle cup",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the candle cup to lift or reposition the candlestick",
|
| 10 |
+
"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the candle cup to steady the top while inserting a candle",
|
| 14 |
+
"confidence": 0.57
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"hold a candle",
|
| 19 |
+
"locate the candle upright",
|
| 20 |
+
"provide a candle socket"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small cylindrical gold-toned metal cup at the top center with a smooth slightly reflective finish and open hollow sized for a candle base.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {}
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"part_name": "top drip plate",
|
| 28 |
+
"mask_color": "Yellow",
|
| 29 |
+
"graspable": true,
|
| 30 |
+
"grasp_scenarios": [
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the rim of the top plate to pick up the candlestick",
|
| 33 |
+
"confidence": 0.55
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "hold the top plate edge to steady the object during placement",
|
| 37 |
+
"confidence": 0.5
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"catch wax drips",
|
| 42 |
+
"support the candle cup",
|
| 43 |
+
"provide a top support surface"
|
| 44 |
+
],
|
| 45 |
+
"semantic_description": "Wide round gold-toned metal dish beneath the candle cup with a smooth slightly reflective surface and shallow concave profile.",
|
| 46 |
+
"id": 3,
|
| 47 |
+
"grasp_group": {
|
| 48 |
+
"grasp_12": {
|
| 49 |
+
"confidence": 0.9355221390724182,
|
| 50 |
+
"position": [
|
| 51 |
+
0.12728254357352853,
|
| 52 |
+
-0.002606940281111747,
|
| 53 |
+
0.09079757612198591
|
| 54 |
+
],
|
| 55 |
+
"orientation": {
|
| 56 |
+
"w": 0.6263709029387289,
|
| 57 |
+
"xyz": [
|
| 58 |
+
-0.014285305865291387,
|
| 59 |
+
-0.7783702525333174,
|
| 60 |
+
0.039939603894846014
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"grasp_13": {
|
| 65 |
+
"confidence": 0.9353320598602295,
|
| 66 |
+
"position": [
|
| 67 |
+
0.1289441273547709,
|
| 68 |
+
0.007621244469191879,
|
| 69 |
+
0.0888105658814311
|
| 70 |
+
],
|
| 71 |
+
"orientation": {
|
| 72 |
+
"w": 0.6386765517368517,
|
| 73 |
+
"xyz": [
|
| 74 |
+
-0.040007440098138114,
|
| 75 |
+
-0.7668248898931986,
|
| 76 |
+
0.04971172134016682
|
| 77 |
+
]
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"grasp_14": {
|
| 81 |
+
"confidence": 0.9332423806190491,
|
| 82 |
+
"position": [
|
| 83 |
+
0.12703713634982705,
|
| 84 |
+
-0.001471829367801547,
|
| 85 |
+
0.09286523144692183
|
| 86 |
+
],
|
| 87 |
+
"orientation": {
|
| 88 |
+
"w": 0.6197269630218037,
|
| 89 |
+
"xyz": [
|
| 90 |
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-0.03902761235501103,
|
| 91 |
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-0.7838444505595782,
|
| 92 |
+
0.0017927924004995694
|
| 93 |
+
]
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
"grasp_15": {
|
| 97 |
+
"confidence": 0.9320133924484253,
|
| 98 |
+
"position": [
|
| 99 |
+
0.1258219094015658,
|
| 100 |
+
0.01931859547039494,
|
| 101 |
+
0.09418508689850569
|
| 102 |
+
],
|
| 103 |
+
"orientation": {
|
| 104 |
+
"w": 0.6171053131780665,
|
| 105 |
+
"xyz": [
|
| 106 |
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0.03460742502396911,
|
| 107 |
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-0.7850474136842084,
|
| 108 |
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0.04103555590395263
|
| 109 |
+
]
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"grasp_16": {
|
| 113 |
+
"confidence": 0.9305098652839661,
|
| 114 |
+
"position": [
|
| 115 |
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0.12550254771485925,
|
| 116 |
+
0.0019087292603217065,
|
| 117 |
+
0.09812059532850981
|
| 118 |
+
],
|
| 119 |
+
"orientation": {
|
| 120 |
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"w": 0.5969300754080294,
|
| 121 |
+
"xyz": [
|
| 122 |
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0.01551689032326284,
|
| 123 |
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-0.8017222719883411,
|
| 124 |
+
-0.025982874858504295
|
| 125 |
+
]
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
"grasp_17": {
|
| 129 |
+
"confidence": 0.9297810196876526,
|
| 130 |
+
"position": [
|
| 131 |
+
0.13201351324096322,
|
| 132 |
+
0.018200468213763088,
|
| 133 |
+
0.0842561749741435
|
| 134 |
+
],
|
| 135 |
+
"orientation": {
|
| 136 |
+
"w": 0.6627649994539994,
|
| 137 |
+
"xyz": [
|
| 138 |
+
0.031763691765936776,
|
| 139 |
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-0.7459184149017328,
|
| 140 |
+
0.05778703742730656
|
| 141 |
+
]
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"grasp_19": {
|
| 145 |
+
"confidence": 0.9297041296958923,
|
| 146 |
+
"position": [
|
| 147 |
+
0.13141693035140634,
|
| 148 |
+
0.0036040273844264448,
|
| 149 |
+
0.08361885230988264
|
| 150 |
+
],
|
| 151 |
+
"orientation": {
|
| 152 |
+
"w": 0.6673101559925214,
|
| 153 |
+
"xyz": [
|
| 154 |
+
0.033644852826230746,
|
| 155 |
+
-0.7434692938981032,
|
| 156 |
+
0.028610987717893433
|
| 157 |
+
]
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"grasp_24": {
|
| 161 |
+
"confidence": 0.9262245297431946,
|
| 162 |
+
"position": [
|
| 163 |
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0.12885856488719583,
|
| 164 |
+
0.0055836489773355424,
|
| 165 |
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0.08955326955765486
|
| 166 |
+
],
|
| 167 |
+
"orientation": {
|
| 168 |
+
"w": 0.6329954019271286,
|
| 169 |
+
"xyz": [
|
| 170 |
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-0.021425618265099595,
|
| 171 |
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-0.7737998605541571,
|
| 172 |
+
-0.009567644821894556
|
| 173 |
+
]
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
+
"grasp_25": {
|
| 177 |
+
"confidence": 0.9259353876113892,
|
| 178 |
+
"position": [
|
| 179 |
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0.121772734913975,
|
| 180 |
+
-0.013435980363283306,
|
| 181 |
+
0.09955914597958326
|
| 182 |
+
],
|
| 183 |
+
"orientation": {
|
| 184 |
+
"w": 0.5927631367874534,
|
| 185 |
+
"xyz": [
|
| 186 |
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-0.032167445271223935,
|
| 187 |
+
-0.804209934913026,
|
| 188 |
+
-0.02904306660476251
|
| 189 |
+
]
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"grasp_26": {
|
| 193 |
+
"confidence": 0.9254106879234314,
|
| 194 |
+
"position": [
|
| 195 |
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0.1208245218731463,
|
| 196 |
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0.03768184961518273,
|
| 197 |
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0.10145101975649595
|
| 198 |
+
],
|
| 199 |
+
"orientation": {
|
| 200 |
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"w": 0.5794706631385269,
|
| 201 |
+
"xyz": [
|
| 202 |
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0.04539743325128731,
|
| 203 |
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-0.8057715567541018,
|
| 204 |
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0.11351221054169358
|
| 205 |
+
]
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"grasp_30": {
|
| 209 |
+
"confidence": 0.9229320883750916,
|
| 210 |
+
"position": [
|
| 211 |
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0.12020492414012551,
|
| 212 |
+
0.004198164620902389,
|
| 213 |
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0.10801312606781721
|
| 214 |
+
],
|
| 215 |
+
"orientation": {
|
| 216 |
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"w": 0.5543650067749559,
|
| 217 |
+
"xyz": [
|
| 218 |
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0.05994468428870267,
|
| 219 |
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-0.8267414446867709,
|
| 220 |
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0.07473056754877139
|
| 221 |
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]
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
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"grasp_31": {
|
| 225 |
+
"confidence": 0.9227280020713806,
|
| 226 |
+
"position": [
|
| 227 |
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0.12327458569779992,
|
| 228 |
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0.00960761116584763,
|
| 229 |
+
0.10480960737913847
|
| 230 |
+
],
|
| 231 |
+
"orientation": {
|
| 232 |
+
"w": 0.5626074970344926,
|
| 233 |
+
"xyz": [
|
| 234 |
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0.015340293635556088,
|
| 235 |
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-0.8264717101199528,
|
| 236 |
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-0.013490442659867983
|
| 237 |
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]
|
| 238 |
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}
|
| 239 |
+
}
|
| 240 |
+
}
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"part_name": "top stem collar",
|
| 244 |
+
"mask_color": "Pink",
|
| 245 |
+
"graspable": true,
|
| 246 |
+
"grasp_scenarios": [
|
| 247 |
+
{
|
| 248 |
+
"scenario": "pinch the narrow collar below the top plate to steady the candlestick",
|
| 249 |
+
"confidence": 0.34
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"scenario": "grasp the collar for delicate reorientation",
|
| 253 |
+
"confidence": 0.31
|
| 254 |
+
}
|
| 255 |
+
],
|
| 256 |
+
"functional_labels": [
|
| 257 |
+
"connect stem to top plate",
|
| 258 |
+
"provide local support",
|
| 259 |
+
"space the top assembly"
|
| 260 |
+
],
|
| 261 |
+
"semantic_description": "Small gold-toned metal collar directly under the top plate with a smooth glossy finish and narrow rounded form at the top of the stem.",
|
| 262 |
+
"id": 8,
|
| 263 |
+
"grasp_group": {
|
| 264 |
+
"grasp_72": {
|
| 265 |
+
"confidence": 0.8292250633239746,
|
| 266 |
+
"position": [
|
| 267 |
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0.09202350536361337,
|
| 268 |
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|
| 269 |
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-0.014916961081326008
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
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"w": 0.5783421426767928,
|
| 273 |
+
"xyz": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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0.43296267502586905
|
| 277 |
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]
|
| 278 |
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}
|
| 279 |
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},
|
| 280 |
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"grasp_73": {
|
| 281 |
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"confidence": 0.7395709156990051,
|
| 282 |
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"position": [
|
| 283 |
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0.08719981322064996,
|
| 284 |
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|
| 285 |
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-0.026563827879726887
|
| 286 |
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],
|
| 287 |
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"orientation": {
|
| 288 |
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"w": 0.6231930084548971,
|
| 289 |
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"xyz": [
|
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|
| 291 |
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|
| 292 |
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0.41417181740729253
|
| 293 |
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]
|
| 294 |
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}
|
| 295 |
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},
|
| 296 |
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"grasp_74": {
|
| 297 |
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"confidence": 0.7276881337165833,
|
| 298 |
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"position": [
|
| 299 |
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|
| 300 |
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0.008492098131682724,
|
| 301 |
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0.03358530532568693
|
| 302 |
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],
|
| 303 |
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"orientation": {
|
| 304 |
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"w": 0.3441669184788681,
|
| 305 |
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"xyz": [
|
| 306 |
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|
| 307 |
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0.6349584376423183,
|
| 308 |
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| 309 |
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]
|
| 310 |
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}
|
| 311 |
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},
|
| 312 |
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"grasp_75": {
|
| 313 |
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"confidence": 0.7275509834289551,
|
| 314 |
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"position": [
|
| 315 |
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|
| 316 |
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0.03621346311410889,
|
| 317 |
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0.037551858462393284
|
| 318 |
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],
|
| 319 |
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"orientation": {
|
| 320 |
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|
| 321 |
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"xyz": [
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| 322 |
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0.7379020617313737,
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| 1908 |
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0.06052710228890079,
|
| 1909 |
+
-0.10752104466037006
|
| 1910 |
+
]
|
| 1911 |
+
}
|
| 1912 |
+
},
|
| 1913 |
+
"grasp_87": {
|
| 1914 |
+
"confidence": 0.7503784894943237,
|
| 1915 |
+
"position": [
|
| 1916 |
+
-0.04679918056353927,
|
| 1917 |
+
-0.09943250386277214,
|
| 1918 |
+
-0.008389419876039028
|
| 1919 |
+
],
|
| 1920 |
+
"orientation": {
|
| 1921 |
+
"w": 0.6720916851678743,
|
| 1922 |
+
"xyz": [
|
| 1923 |
+
-0.7076437708826894,
|
| 1924 |
+
0.1324028776737497,
|
| 1925 |
+
-0.1732124078778553
|
| 1926 |
+
]
|
| 1927 |
+
}
|
| 1928 |
+
}
|
| 1929 |
+
}
|
| 1930 |
+
}
|
| 1931 |
+
],
|
| 1932 |
+
"quality_check": {
|
| 1933 |
+
"success": false,
|
| 1934 |
+
"message": "Several mask colors are wrong and one stem part identity is incorrect."
|
| 1935 |
+
}
|
| 1936 |
+
}
|
dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e497422f86fdda922bc039ece2656491e5bd82499fa92eac68edd6f405bf4ff
|
| 3 |
+
size 3787468
|