Add asset bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743
Browse files
.gitattributes
CHANGED
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@@ -8092,3 +8092,4 @@ dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/affordance/mes
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| 8092 |
dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8093 |
dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8094 |
dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8092 |
dataset/bedroom_supplies/storage/9a80850971a9572b9f6bcf81d551c4ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8093 |
dataset/bedroom_supplies/storage/9a97f8d31ea85e8dae503162408e94b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8094 |
dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8095 |
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dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/affordance_annot.json
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@@ -0,0 +1,446 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid shell",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the closed lid shell to pick up the glasses case from a table",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid shell to stabilize the case while opening or repositioning it",
|
| 14 |
+
"confidence": 0.81
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"protect eyeglasses from impact",
|
| 20 |
+
"provide a main exterior grasp surface",
|
| 21 |
+
"define the upper half of the case"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A large rounded tan-brown leather outer lid with a matte to satin finish, smooth slightly padded texture, visible stitching, and an elongated capsule shape forming the upper half of the case.",
|
| 24 |
+
"id": 4,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_40": {
|
| 27 |
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"confidence": 0.7695216536521912,
|
| 28 |
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"position": [
|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.5442510612199178,
|
| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_41": {
|
| 43 |
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"confidence": 0.7235225439071655,
|
| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
|
| 49 |
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"orientation": {
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| 50 |
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"w": 0.2159384856515053,
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| 51 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_42": {
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| 59 |
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"confidence": 0.6599825620651245,
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| 60 |
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"position": [
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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"w": 0.5563311245571401,
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| 67 |
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"xyz": [
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
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| 74 |
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"grasp_46": {
|
| 75 |
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"confidence": 0.5378418564796448,
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| 76 |
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"position": [
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| 77 |
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],
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"orientation": {
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| 83 |
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| 84 |
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| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_47": {
|
| 91 |
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"confidence": 0.5047241449356079,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
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| 98 |
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"w": 0.5404897821846488,
|
| 99 |
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"xyz": [
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| 101 |
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| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_49": {
|
| 107 |
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"confidence": 0.49939075112342834,
|
| 108 |
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"position": [
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| 109 |
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|
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| 111 |
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|
| 112 |
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],
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"orientation": {
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| 114 |
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"w": 0.402947555869435,
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]
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}
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| 121 |
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},
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| 122 |
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"grasp_54": {
|
| 123 |
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"confidence": 0.24594931304454803,
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| 124 |
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| 128 |
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},
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}
|
| 153 |
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},
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"grasp_57": {
|
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"confidence": 0.7203162312507629,
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"orientation": {
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"grasp_58": {
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| 175 |
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0.03815138363279402
|
| 176 |
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],
|
| 177 |
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"orientation": {
|
| 178 |
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| 179 |
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| 180 |
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0.7626444111740123,
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| 182 |
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0.5920939335733377
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| 183 |
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]
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| 184 |
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| 185 |
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}
|
| 186 |
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}
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"part_name": "base shell",
|
| 190 |
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"mask_color": "Green",
|
| 191 |
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"graspable": true,
|
| 192 |
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|
| 193 |
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{
|
| 194 |
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"scenario": "grasp the base shell to pick up and carry the glasses case",
|
| 195 |
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"confidence": 0.92
|
| 196 |
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},
|
| 197 |
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{
|
| 198 |
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"scenario": "hold the base shell while opening the lid to access the contents",
|
| 199 |
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"confidence": 0.9
|
| 200 |
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}
|
| 201 |
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],
|
| 202 |
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"functional_labels": [
|
| 203 |
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"support the case on surfaces",
|
| 204 |
+
"contain and protect eyeglasses",
|
| 205 |
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"provide a stable main grasp surface",
|
| 206 |
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"define the lower half of the case"
|
| 207 |
+
],
|
| 208 |
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"semantic_description": "A large rounded tan-brown leather lower shell with a matte to satin finish, smooth padded feel, perimeter stitching, and an elongated oval form making up the bottom half of the case.",
|
| 209 |
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"id": 1,
|
| 210 |
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"grasp_group": {
|
| 211 |
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|
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0.029334477963857353,
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],
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]
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| 225 |
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}
|
| 226 |
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},
|
| 227 |
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|
| 228 |
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"confidence": 0.5237410664558411,
|
| 229 |
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| 230 |
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|
| 231 |
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0.1411884158733301,
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| 232 |
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|
| 233 |
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],
|
| 234 |
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|
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},
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|
| 244 |
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|
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],
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}
|
| 258 |
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},
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|
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|
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|
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],
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0.46963638863533697,
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|
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]
|
| 273 |
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}
|
| 274 |
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},
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|
| 276 |
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|
| 281 |
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],
|
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|
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|
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|
| 288 |
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]
|
| 289 |
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}
|
| 290 |
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},
|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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0.1142683121142909,
|
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|
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|
| 297 |
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],
|
| 298 |
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|
| 299 |
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|
| 300 |
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| 301 |
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|
| 302 |
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|
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|
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]
|
| 305 |
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}
|
| 306 |
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},
|
| 307 |
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"grasp_14": {
|
| 308 |
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|
| 309 |
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|
| 310 |
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0.028678972157649696,
|
| 311 |
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|
| 312 |
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-0.06684616557322443
|
| 313 |
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],
|
| 314 |
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"orientation": {
|
| 315 |
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|
| 316 |
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| 317 |
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|
| 318 |
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|
| 319 |
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0.04232801200456207
|
| 320 |
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]
|
| 321 |
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}
|
| 322 |
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},
|
| 323 |
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"grasp_15": {
|
| 324 |
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"confidence": 0.7054133415222168,
|
| 325 |
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"position": [
|
| 326 |
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0.07931003894191235,
|
| 327 |
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0.11728406249312684,
|
| 328 |
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0.022653801599517465
|
| 329 |
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],
|
| 330 |
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"orientation": {
|
| 331 |
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"w": 0.3044492035384654,
|
| 332 |
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"xyz": [
|
| 333 |
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0.7015274071960065,
|
| 334 |
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0.4011838251118046,
|
| 335 |
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-0.5042038455687377
|
| 336 |
+
]
|
| 337 |
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}
|
| 338 |
+
},
|
| 339 |
+
"grasp_17": {
|
| 340 |
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"confidence": 0.6389907598495483,
|
| 341 |
+
"position": [
|
| 342 |
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0.07968888606410474,
|
| 343 |
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0.11743268667487428,
|
| 344 |
+
-0.016156611731275916
|
| 345 |
+
],
|
| 346 |
+
"orientation": {
|
| 347 |
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"w": 0.3412794777838025,
|
| 348 |
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"xyz": [
|
| 349 |
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0.5805534298548874,
|
| 350 |
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0.3788339955679396,
|
| 351 |
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-0.6347998400514698
|
| 352 |
+
]
|
| 353 |
+
}
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
},
|
| 357 |
+
{
|
| 358 |
+
"part_name": "inner lid lining",
|
| 359 |
+
"mask_color": "Blue",
|
| 360 |
+
"graspable": false,
|
| 361 |
+
"grasp_scenarios": [],
|
| 362 |
+
"functional_labels": [
|
| 363 |
+
"cushion the stored glasses",
|
| 364 |
+
"protect lenses from scratching",
|
| 365 |
+
"line the interior of the lid",
|
| 366 |
+
"provide a soft contact surface"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "A smooth tan interior lining on the inside of the lid, likely soft fabric or leather-like material, with a gently curved elongated shape and small printed branding visible near the center.",
|
| 369 |
+
"id": 2,
|
| 370 |
+
"grasp_group": {}
|
| 371 |
+
},
|
| 372 |
+
{
|
| 373 |
+
"part_name": "base lining",
|
| 374 |
+
"mask_color": "Red",
|
| 375 |
+
"graspable": false,
|
| 376 |
+
"grasp_scenarios": [],
|
| 377 |
+
"functional_labels": [
|
| 378 |
+
"cushion the stored glasses",
|
| 379 |
+
"protect frames from abrasion",
|
| 380 |
+
"form the interior bed",
|
| 381 |
+
"help retain contents softly"
|
| 382 |
+
],
|
| 383 |
+
"semantic_description": "A soft tan-brown padded interior bed with a slightly wrinkled smooth surface, occupying most of the lower cavity and conforming gently to the glasses compartment.",
|
| 384 |
+
"id": 0,
|
| 385 |
+
"grasp_group": {}
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"part_name": "closure strap",
|
| 389 |
+
"mask_color": "Yellow",
|
| 390 |
+
"graspable": true,
|
| 391 |
+
"grasp_scenarios": [
|
| 392 |
+
{
|
| 393 |
+
"scenario": "pinch the strap to open the snap closure",
|
| 394 |
+
"confidence": 0.86
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"scenario": "grasp the strap to pull the lid down and secure the case shut",
|
| 398 |
+
"confidence": 0.79
|
| 399 |
+
}
|
| 400 |
+
],
|
| 401 |
+
"functional_labels": [
|
| 402 |
+
"secure the case closed",
|
| 403 |
+
"provide a pull tab for opening",
|
| 404 |
+
"align the snap closure",
|
| 405 |
+
"retain the lid during transport"
|
| 406 |
+
],
|
| 407 |
+
"semantic_description": "A small tan leather strap centered on the lid edge, with visible stitching and a round metal snap, slightly raised and sized for pinching or pulling.",
|
| 408 |
+
"id": 3,
|
| 409 |
+
"grasp_group": {}
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"part_name": "hinge binding",
|
| 413 |
+
"mask_color": "Cyan",
|
| 414 |
+
"graspable": false,
|
| 415 |
+
"grasp_scenarios": [],
|
| 416 |
+
"functional_labels": [
|
| 417 |
+
"connect lid and base",
|
| 418 |
+
"enable opening rotation",
|
| 419 |
+
"maintain case alignment",
|
| 420 |
+
"support repeated opening and closing"
|
| 421 |
+
],
|
| 422 |
+
"semantic_description": "A narrow tan seam-like binding along the rear perimeter where the two halves join, appearing as a flexible leather-covered hinge with stitched edges.",
|
| 423 |
+
"id": 6,
|
| 424 |
+
"grasp_group": {}
|
| 425 |
+
},
|
| 426 |
+
{
|
| 427 |
+
"part_name": "edge trim",
|
| 428 |
+
"mask_color": "Magenta",
|
| 429 |
+
"graspable": false,
|
| 430 |
+
"grasp_scenarios": [],
|
| 431 |
+
"functional_labels": [
|
| 432 |
+
"finish the shell edges",
|
| 433 |
+
"reinforce the perimeter",
|
| 434 |
+
"reduce edge wear",
|
| 435 |
+
"visually define the case outline"
|
| 436 |
+
],
|
| 437 |
+
"semantic_description": "A thin tan border strip running around the shell perimeter, slightly raised with stitched detail and a smooth finished leather appearance.",
|
| 438 |
+
"id": 7,
|
| 439 |
+
"grasp_group": {}
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"quality_check": {
|
| 443 |
+
"success": true,
|
| 444 |
+
"message": "YES"
|
| 445 |
+
}
|
| 446 |
+
}
|
dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ba42dea9c5b3a843fef862d8b55c8de3f0155f37d3114219acbbab8ff41b7fe
|
| 3 |
+
size 3790220
|