Add asset livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128
Browse files
.gitattributes
CHANGED
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@@ -7685,3 +7685,4 @@ dataset/livingroom_supplies/ornaments/44aeccb4dd7f57b8bfcfcb166ee925ab/affordanc
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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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| 7686 |
dataset/livingroom_supplies/ornaments/45dedfc9089b50eb8352efeff5061982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7687 |
dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/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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| 7686 |
dataset/livingroom_supplies/ornaments/45dedfc9089b50eb8352efeff5061982/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7687 |
dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7688 |
+
dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,943 @@
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|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the round bottle body to pick up and move the diffuser bottle",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while adjusting the flower stems",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain diffuser liquid",
|
| 19 |
+
"main support structure",
|
| 20 |
+
"main grasp surface",
|
| 21 |
+
"provide base stability"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large spherical off-white bottle body, likely ceramic or glass, with a smooth satin-to-gloss hard surface forming the main lower vessel.",
|
| 24 |
+
"id": 8,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "bottle neck",
|
| 29 |
+
"mask_color": "Red",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the narrow neck carefully to reposition the bottle",
|
| 34 |
+
"confidence": 0.56
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the neck to stabilize the bottle while adjusting the stems",
|
| 38 |
+
"confidence": 0.64
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"support opening",
|
| 43 |
+
"connect body to top",
|
| 44 |
+
"guide inserted stems",
|
| 45 |
+
"secondary grasp point"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "Small short off-white neck above the spherical body, smooth hard surface, narrower than the main bottle body.",
|
| 48 |
+
"id": 0,
|
| 49 |
+
"grasp_group": {
|
| 50 |
+
"grasp_1": {
|
| 51 |
+
"confidence": 0.9300035834312439,
|
| 52 |
+
"position": [
|
| 53 |
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-0.04795013365219347,
|
| 54 |
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-0.07856816134881228,
|
| 55 |
+
-0.10586415696889162
|
| 56 |
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],
|
| 57 |
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"orientation": {
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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0.5065258553959489,
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| 62 |
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0.8007599568288941
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| 63 |
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]
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| 64 |
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}
|
| 65 |
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},
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| 66 |
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"grasp_5": {
|
| 67 |
+
"confidence": 0.9231008887290955,
|
| 68 |
+
"position": [
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| 69 |
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|
| 70 |
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0.10330015339422971,
|
| 71 |
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-0.08080785442143679
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| 72 |
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],
|
| 73 |
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"orientation": {
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| 74 |
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|
| 75 |
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"xyz": [
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| 76 |
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0.6267505422469685,
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| 77 |
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| 78 |
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| 79 |
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]
|
| 80 |
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}
|
| 81 |
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},
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| 82 |
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"grasp_6": {
|
| 83 |
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"confidence": 0.9224752187728882,
|
| 84 |
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"position": [
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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],
|
| 89 |
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"orientation": {
|
| 90 |
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| 91 |
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"xyz": [
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| 92 |
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0.08585257888920482,
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| 93 |
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0.5215639768155949,
|
| 94 |
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0.7530072405486921
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| 95 |
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]
|
| 96 |
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}
|
| 97 |
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},
|
| 98 |
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"grasp_7": {
|
| 99 |
+
"confidence": 0.9221431612968445,
|
| 100 |
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"position": [
|
| 101 |
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| 102 |
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0.09058126725722104,
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| 103 |
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| 104 |
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],
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| 105 |
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"orientation": {
|
| 106 |
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"w": 0.3255709568635865,
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| 107 |
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"xyz": [
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| 108 |
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| 109 |
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|
| 110 |
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0.6708993938107849
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| 111 |
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]
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"grasp_11": {
|
| 115 |
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"confidence": 0.9204906225204468,
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| 116 |
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"position": [
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0.09014159071375616,
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| 118 |
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0.017679316108115017,
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| 119 |
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| 120 |
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],
|
| 121 |
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"orientation": {
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| 123 |
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| 124 |
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| 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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"grasp_12": {
|
| 131 |
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"confidence": 0.920311689376831,
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| 132 |
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| 133 |
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| 134 |
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0.042091637034900486,
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| 135 |
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| 136 |
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],
|
| 137 |
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| 139 |
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| 142 |
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| 143 |
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]
|
| 144 |
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}
|
| 145 |
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},
|
| 146 |
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"grasp_13": {
|
| 147 |
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"confidence": 0.9202961325645447,
|
| 148 |
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"position": [
|
| 149 |
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|
| 150 |
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0.051503646303899586,
|
| 151 |
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-0.12198147643357515
|
| 152 |
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],
|
| 153 |
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"orientation": {
|
| 154 |
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"w": 0.39433488857337057,
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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0.8099535377023763
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| 159 |
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]
|
| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"grasp_15": {
|
| 163 |
+
"confidence": 0.9197533130645752,
|
| 164 |
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"position": [
|
| 165 |
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0.03997062149574049,
|
| 166 |
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0.07126240350771695,
|
| 167 |
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-0.12635905761271715
|
| 168 |
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],
|
| 169 |
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"orientation": {
|
| 170 |
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"w": 0.3060577256257311,
|
| 171 |
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"xyz": [
|
| 172 |
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|
| 173 |
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|
| 174 |
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0.8584463231395342
|
| 175 |
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]
|
| 176 |
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}
|
| 177 |
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},
|
| 178 |
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"grasp_16": {
|
| 179 |
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"confidence": 0.9192517399787903,
|
| 180 |
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"position": [
|
| 181 |
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|
| 182 |
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|
| 183 |
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-0.09993493277579546
|
| 184 |
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],
|
| 185 |
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"orientation": {
|
| 186 |
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"w": 0.341515674589869,
|
| 187 |
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"xyz": [
|
| 188 |
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0.15020470760566487,
|
| 189 |
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0.5121085698833008,
|
| 190 |
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0.7736603922100475
|
| 191 |
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]
|
| 192 |
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}
|
| 193 |
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},
|
| 194 |
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"grasp_18": {
|
| 195 |
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"confidence": 0.9183745980262756,
|
| 196 |
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"position": [
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| 197 |
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|
| 198 |
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| 199 |
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|
| 200 |
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],
|
| 201 |
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"orientation": {
|
| 202 |
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|
| 203 |
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"xyz": [
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| 204 |
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0.04099190910355921,
|
| 205 |
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0.46622639062105886,
|
| 206 |
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0.8398558632726464
|
| 207 |
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]
|
| 208 |
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}
|
| 209 |
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},
|
| 210 |
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"grasp_19": {
|
| 211 |
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"confidence": 0.9182279109954834,
|
| 212 |
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"position": [
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| 213 |
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0.03793762999703176,
|
| 214 |
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0.10702788748312742,
|
| 215 |
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-0.05852605868130922
|
| 216 |
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],
|
| 217 |
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"orientation": {
|
| 218 |
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"w": 0.1542623358041425,
|
| 219 |
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"xyz": [
|
| 220 |
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|
| 221 |
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|
| 222 |
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0.6915634543332484
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| 223 |
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]
|
| 224 |
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}
|
| 225 |
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}
|
| 226 |
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}
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"part_name": "flower petal cluster",
|
| 230 |
+
"mask_color": "Brown",
|
| 231 |
+
"graspable": false,
|
| 232 |
+
"grasp_scenarios": [],
|
| 233 |
+
"functional_labels": [
|
| 234 |
+
"decorative display",
|
| 235 |
+
"visual accent",
|
| 236 |
+
"surround flower center"
|
| 237 |
+
],
|
| 238 |
+
"semantic_description": "Cream-white layered flower petals forming the upper blossom, with a soft matte fabric-or-paper appearance and rounded rosette-like shape.",
|
| 239 |
+
"id": 11,
|
| 240 |
+
"grasp_group": {}
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"part_name": "flower petal cluster",
|
| 244 |
+
"mask_color": "Cyan",
|
| 245 |
+
"graspable": false,
|
| 246 |
+
"grasp_scenarios": [],
|
| 247 |
+
"functional_labels": [
|
| 248 |
+
"decorative display",
|
| 249 |
+
"visual accent",
|
| 250 |
+
"surround flower center"
|
| 251 |
+
],
|
| 252 |
+
"semantic_description": "Cream-white petal cluster with thin layered petals and a matte soft-looking finish, forming a side blossom near the top arrangement.",
|
| 253 |
+
"id": 6,
|
| 254 |
+
"grasp_group": {}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "flower petal cluster",
|
| 258 |
+
"mask_color": "Purple",
|
| 259 |
+
"graspable": false,
|
| 260 |
+
"grasp_scenarios": [],
|
| 261 |
+
"functional_labels": [
|
| 262 |
+
"decorative display",
|
| 263 |
+
"visual accent",
|
| 264 |
+
"surround flower center"
|
| 265 |
+
],
|
| 266 |
+
"semantic_description": "Cream-white petal cluster with overlapping rounded petals and a soft matte appearance, visible as another blossom attached to the stems.",
|
| 267 |
+
"id": 5,
|
| 268 |
+
"grasp_group": {}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"part_name": "flower center",
|
| 272 |
+
"mask_color": "Teal",
|
| 273 |
+
"graspable": false,
|
| 274 |
+
"grasp_scenarios": [],
|
| 275 |
+
"functional_labels": [
|
| 276 |
+
"flower detail",
|
| 277 |
+
"visual accent",
|
| 278 |
+
"indicate blossom center"
|
| 279 |
+
],
|
| 280 |
+
"semantic_description": "Small pale yellow flower center set inside the top blossom, with a slightly textured matte appearance.",
|
| 281 |
+
"id": 10,
|
| 282 |
+
"grasp_group": {}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "flower center",
|
| 286 |
+
"mask_color": "Light Pink",
|
| 287 |
+
"graspable": false,
|
| 288 |
+
"grasp_scenarios": [],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"flower detail",
|
| 291 |
+
"visual accent",
|
| 292 |
+
"indicate blossom center"
|
| 293 |
+
],
|
| 294 |
+
"semantic_description": "Small pale yellow floral center positioned in the middle of a front blossom as a decorative detail.",
|
| 295 |
+
"id": null
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"part_name": "flower center",
|
| 299 |
+
"mask_color": "Orange",
|
| 300 |
+
"graspable": false,
|
| 301 |
+
"grasp_scenarios": [],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"flower detail",
|
| 304 |
+
"visual accent",
|
| 305 |
+
"indicate blossom center"
|
| 306 |
+
],
|
| 307 |
+
"semantic_description": "Small pale yellow central flower detail with a matte finish, visible within another blossom in the arrangement.",
|
| 308 |
+
"id": 4,
|
| 309 |
+
"grasp_group": {}
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"part_name": "stem bundle",
|
| 313 |
+
"mask_color": "Green",
|
| 314 |
+
"graspable": true,
|
| 315 |
+
"grasp_scenarios": [
|
| 316 |
+
{
|
| 317 |
+
"scenario": "pinch the stems together to adjust or reinsert the floral reeds",
|
| 318 |
+
"confidence": 0.72
|
| 319 |
+
},
|
| 320 |
+
{
|
| 321 |
+
"scenario": "grasp the stems to pull the decorative insert out of the bottle",
|
| 322 |
+
"confidence": 0.62
|
| 323 |
+
}
|
| 324 |
+
],
|
| 325 |
+
"functional_labels": [
|
| 326 |
+
"support flowers",
|
| 327 |
+
"connect flowers to bottle",
|
| 328 |
+
"wick or carry fragrance",
|
| 329 |
+
"enable arrangement adjustment"
|
| 330 |
+
],
|
| 331 |
+
"semantic_description": "Several slender beige stems with a natural wood-like look and matte dry texture, rising from the bottle opening to hold the flowers.",
|
| 332 |
+
"id": 1,
|
| 333 |
+
"grasp_group": {
|
| 334 |
+
"grasp_20": {
|
| 335 |
+
"confidence": 0.8521682620048523,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.09984827411244623,
|
| 338 |
+
-0.04352395690511912,
|
| 339 |
+
-0.0063589490018785
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.6684976346907285,
|
| 343 |
+
"xyz": [
|
| 344 |
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-0.49385504862264207,
|
| 345 |
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0.4064633667709038,
|
| 346 |
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-0.37948074369602725
|
| 347 |
+
]
|
| 348 |
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}
|
| 349 |
+
},
|
| 350 |
+
"grasp_21": {
|
| 351 |
+
"confidence": 0.8009662628173828,
|
| 352 |
+
"position": [
|
| 353 |
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|
| 354 |
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|
| 355 |
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0.002450287342071533
|
| 356 |
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],
|
| 357 |
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"orientation": {
|
| 358 |
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"w": 0.6994324403630903,
|
| 359 |
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"xyz": [
|
| 360 |
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|
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{
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"part_name": "stem bundle",
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| 836 |
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"mask_color": "Blue",
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| 837 |
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"graspable": true,
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| 838 |
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{
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| 840 |
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],
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| 849 |
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"support flowers",
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| 850 |
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"provide fine adjustment point",
|
| 851 |
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"connect decorative elements"
|
| 852 |
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],
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| 853 |
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"semantic_description": "Very thin beige stem strands with a matte natural finish and delicate curved shape, visible among the flowers as narrow supporting elements.",
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| 854 |
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"id": 2,
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},
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| 936 |
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}
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| 937 |
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}
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| 938 |
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],
|
| 939 |
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"quality_check": {
|
| 940 |
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"success": false,
|
| 941 |
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"message": "Bottle body mask color and neck mask color are wrong; stem functions incorrectly claim fragrance-wicking diffuser reeds."
|
| 942 |
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}
|
| 943 |
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}
|
dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:29b07b65822f9d8ca2acac5d71275e59a75dc46275793cf198c1037fa9b17ee1
|
| 3 |
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size 1940272
|