Add asset livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98
Browse files
.gitattributes
CHANGED
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@@ -7730,3 +7730,4 @@ dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/affordanc
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| 7730 |
dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7731 |
dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7732 |
dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7730 |
dataset/livingroom_supplies/ornaments/885a57aa999d58a89d1f2b4931df4a94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7731 |
dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7732 |
dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7733 |
+
dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,326 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and move the spray bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while operating the trigger",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"main grasp surface",
|
| 20 |
+
"support the spray head",
|
| 21 |
+
"provide overall structure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded plastic bottle forming the main container, with a pale pink to lavender upper body and a darker pink lower band/base area, smooth hard surface, and bulbous shape.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "neck collar",
|
| 29 |
+
"mask_color": "Cyan",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the neck collar to orient the sprayer head during placement",
|
| 34 |
+
"confidence": 0.41
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "pinch the collar area to stabilize the object during adjustment",
|
| 38 |
+
"confidence": 0.37
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"connect spray head to bottle",
|
| 43 |
+
"seal the top opening",
|
| 44 |
+
"provide structural transition"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Short light blue-cyan plastic neck section beneath the sprayer head, smooth hard finish, cylindrical shape, positioned between the bottle body and the spray head.",
|
| 47 |
+
"id": 6,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_69": {
|
| 50 |
+
"confidence": 0.26980555057525635,
|
| 51 |
+
"position": [
|
| 52 |
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-0.030282810039352626,
|
| 53 |
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0.11070287087932229,
|
| 54 |
+
0.19603929668664932
|
| 55 |
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],
|
| 56 |
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"orientation": {
|
| 57 |
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"w": 0.6679594633234367,
|
| 58 |
+
"xyz": [
|
| 59 |
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0.735180870174816,
|
| 60 |
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0.10423213075033722,
|
| 61 |
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0.04974843118040594
|
| 62 |
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]
|
| 63 |
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}
|
| 64 |
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},
|
| 65 |
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"grasp_70": {
|
| 66 |
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"confidence": 0.2673555016517639,
|
| 67 |
+
"position": [
|
| 68 |
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-0.030212275392841548,
|
| 69 |
+
0.11326954374089837,
|
| 70 |
+
0.18083907663822174
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
+
"w": 0.720890425042148,
|
| 74 |
+
"xyz": [
|
| 75 |
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0.6863893515892173,
|
| 76 |
+
0.053185628775098914,
|
| 77 |
+
0.07973670421632777
|
| 78 |
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]
|
| 79 |
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}
|
| 80 |
+
},
|
| 81 |
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"grasp_76": {
|
| 82 |
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"confidence": 0.22222161293029785,
|
| 83 |
+
"position": [
|
| 84 |
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-0.021475361369084567,
|
| 85 |
+
0.10662063816562295,
|
| 86 |
+
0.1855967938899994
|
| 87 |
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],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.7575734685753726,
|
| 90 |
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"xyz": [
|
| 91 |
+
0.645063383332745,
|
| 92 |
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0.09463665364232687,
|
| 93 |
+
0.0319307842273479
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
}
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"part_name": "sprayer head",
|
| 101 |
+
"mask_color": "Yellow",
|
| 102 |
+
"graspable": true,
|
| 103 |
+
"grasp_scenarios": [
|
| 104 |
+
{
|
| 105 |
+
"scenario": "grasp the sprayer head to reposition or retrieve the bottle",
|
| 106 |
+
"confidence": 0.62
|
| 107 |
+
},
|
| 108 |
+
{
|
| 109 |
+
"scenario": "hold the sprayer head to orient the nozzle direction",
|
| 110 |
+
"confidence": 0.58
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"functional_labels": [
|
| 114 |
+
"direct spray forward",
|
| 115 |
+
"house the pump mechanism",
|
| 116 |
+
"support trigger operation",
|
| 117 |
+
"provide aiming orientation"
|
| 118 |
+
],
|
| 119 |
+
"semantic_description": "Light tan to beige plastic sprayer head with a smooth matte surface and elongated curved shape at the top, including the forward nozzle housing and rear cap area.",
|
| 120 |
+
"id": 3,
|
| 121 |
+
"grasp_group": {}
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"part_name": "trigger",
|
| 125 |
+
"mask_color": "Red",
|
| 126 |
+
"graspable": true,
|
| 127 |
+
"grasp_scenarios": [
|
| 128 |
+
{
|
| 129 |
+
"scenario": "pinch the trigger to actuate the spray mechanism",
|
| 130 |
+
"confidence": 0.79
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"scenario": "lightly grasp the trigger for fine orientation while another gripper supports the bottle",
|
| 134 |
+
"confidence": 0.26
|
| 135 |
+
}
|
| 136 |
+
],
|
| 137 |
+
"functional_labels": [
|
| 138 |
+
"actuate spraying",
|
| 139 |
+
"control liquid release",
|
| 140 |
+
"enable pumping motion"
|
| 141 |
+
],
|
| 142 |
+
"semantic_description": "Small pink to magenta plastic trigger with a smooth hard surface, curved lever shape, and underside placement beneath the sprayer head.",
|
| 143 |
+
"id": 0,
|
| 144 |
+
"grasp_group": {
|
| 145 |
+
"grasp_1": {
|
| 146 |
+
"confidence": 0.8274297118186951,
|
| 147 |
+
"position": [
|
| 148 |
+
0.0010995962074957788,
|
| 149 |
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-0.159508743789047,
|
| 150 |
+
0.1493251994252205
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
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"w": 0.8587890374486346,
|
| 154 |
+
"xyz": [
|
| 155 |
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-0.5111445050525418,
|
| 156 |
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0.015624729509574498,
|
| 157 |
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0.03112156712622752
|
| 158 |
+
]
|
| 159 |
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}
|
| 160 |
+
},
|
| 161 |
+
"grasp_2": {
|
| 162 |
+
"confidence": 0.8133296370506287,
|
| 163 |
+
"position": [
|
| 164 |
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0.0163323640008457,
|
| 165 |
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-0.15370407095178962,
|
| 166 |
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0.15422576665878296
|
| 167 |
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],
|
| 168 |
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"orientation": {
|
| 169 |
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"w": 0.8810197517655863,
|
| 170 |
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"xyz": [
|
| 171 |
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-0.46971478144940504,
|
| 172 |
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-0.03377998272068494,
|
| 173 |
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0.04506810240327201
|
| 174 |
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]
|
| 175 |
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}
|
| 176 |
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},
|
| 177 |
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"grasp_4": {
|
| 178 |
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"confidence": 0.810695469379425,
|
| 179 |
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"position": [
|
| 180 |
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-0.0059587673167698085,
|
| 181 |
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-0.1567653059028089,
|
| 182 |
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0.1648663580417633
|
| 183 |
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],
|
| 184 |
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"orientation": {
|
| 185 |
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"w": 0.8584228127374484,
|
| 186 |
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"xyz": [
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| 187 |
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|
| 188 |
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0.030517226980130707,
|
| 189 |
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|
| 190 |
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]
|
| 191 |
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}
|
| 192 |
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},
|
| 193 |
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"grasp_7": {
|
| 194 |
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"confidence": 0.7990211248397827,
|
| 195 |
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"position": [
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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],
|
| 200 |
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"orientation": {
|
| 201 |
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"w": 0.6939132956868798,
|
| 202 |
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"xyz": [
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|
| 204 |
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|
| 205 |
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|
| 206 |
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]
|
| 207 |
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}
|
| 208 |
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},
|
| 209 |
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"grasp_8": {
|
| 210 |
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"confidence": 0.7981082797050476,
|
| 211 |
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"position": [
|
| 212 |
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|
| 213 |
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|
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| 215 |
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],
|
| 216 |
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"orientation": {
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"xyz": [
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]
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}
|
| 224 |
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},
|
| 225 |
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"grasp_12": {
|
| 226 |
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"confidence": 0.7939913272857666,
|
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"position": [
|
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|
| 229 |
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| 230 |
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| 231 |
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| 240 |
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|
| 242 |
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| 244 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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| 259 |
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|
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| 266 |
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|
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|
| 273 |
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|
| 274 |
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|
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| 278 |
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|
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
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|
| 298 |
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| 299 |
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|
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|
| 302 |
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|
| 303 |
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}
|
| 304 |
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}
|
| 305 |
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}
|
| 306 |
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},
|
| 307 |
+
{
|
| 308 |
+
"part_name": "nozzle tip",
|
| 309 |
+
"mask_color": "Orange",
|
| 310 |
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"graspable": false,
|
| 311 |
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"grasp_scenarios": [],
|
| 312 |
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"functional_labels": [
|
| 313 |
+
"emit liquid spray",
|
| 314 |
+
"adjust spray pattern",
|
| 315 |
+
"define outlet direction"
|
| 316 |
+
],
|
| 317 |
+
"semantic_description": "Small orange plastic nozzle tip with a smooth hard finish, short cylindrical shape, and front-end position on the sprayer head as the spray outlet and adjuster.",
|
| 318 |
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"id": 4,
|
| 319 |
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"grasp_group": {}
|
| 320 |
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}
|
| 321 |
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],
|
| 322 |
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"quality_check": {
|
| 323 |
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"success": false,
|
| 324 |
+
"message": "Neck part misidentified and color/shape descriptions mismatch visible object parts."
|
| 325 |
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}
|
| 326 |
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}
|
dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ba7cc7b0b414f04bd2e725c5d675d3819af62d4ae2a8d057fcf7d42fb487eff5
|
| 3 |
+
size 37308844
|