Add asset bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26
Browse files
.gitattributes
CHANGED
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@@ -8097,3 +8097,4 @@ dataset/bedroom_supplies/storage/9cabaf9b9f2257b9b7aed5618ff04d03/affordance/mes
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| 8097 |
dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8097 |
dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8098 |
dataset/bedroom_supplies/storage/9eef71b5d91651049269f95bdfae99dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8099 |
dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8100 |
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dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,306 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bin body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewalls to lift and carry the storage bin",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "clamp the body from opposite sides to pick and place the bin",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the body to stabilize the bin while loading or unloading contents",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain items",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"support stacking or placement",
|
| 25 |
+
"offer side surfaces for grasping"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large cream-white plastic bin body with a semi-gloss hard smooth surface, wavy-sided rectangular shape, and the main deep container occupying nearly the entire object.",
|
| 28 |
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"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_1": {
|
| 31 |
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"confidence": 0.9708742499351501,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_4": {
|
| 47 |
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"confidence": 0.9612156748771667,
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| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.050313514896644804,
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| 55 |
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"xyz": [
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_7": {
|
| 63 |
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"confidence": 0.9503453373908997,
|
| 64 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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],
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| 69 |
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"orientation": {
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
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| 78 |
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"grasp_9": {
|
| 79 |
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"confidence": 0.949568510055542,
|
| 80 |
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"position": [
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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],
|
| 85 |
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"orientation": {
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| 86 |
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"w": 0.6861974683803849,
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| 87 |
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"xyz": [
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| 90 |
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| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_10": {
|
| 95 |
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"confidence": 0.949190616607666,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.6680728208616157,
|
| 103 |
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"xyz": [
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| 106 |
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| 107 |
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]
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}
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| 109 |
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},
|
| 110 |
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"grasp_12": {
|
| 111 |
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"confidence": 0.9446668028831482,
|
| 112 |
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"position": [
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| 114 |
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|
| 115 |
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|
| 116 |
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],
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"orientation": {
|
| 118 |
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"w": 0.5668132682446052,
|
| 119 |
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"xyz": [
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| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_15": {
|
| 127 |
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"confidence": 0.9425197839736938,
|
| 128 |
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"position": [
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| 129 |
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| 132 |
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],
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| 133 |
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"orientation": {
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| 135 |
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_16": {
|
| 143 |
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"confidence": 0.942211389541626,
|
| 144 |
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"position": [
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| 145 |
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],
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| 149 |
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|
| 150 |
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|
| 151 |
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|
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_17": {
|
| 159 |
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"confidence": 0.9418438673019409,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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|
| 163 |
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-0.009041169250849634
|
| 164 |
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],
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"orientation": {
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| 166 |
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"w": 0.019298504535188,
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| 167 |
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"xyz": [
|
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| 169 |
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|
| 170 |
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|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_18": {
|
| 175 |
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"confidence": 0.9417774081230164,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.6803479986336809,
|
| 183 |
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"xyz": [
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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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},
|
| 190 |
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"grasp_19": {
|
| 191 |
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"confidence": 0.9404894113540649,
|
| 192 |
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"position": [
|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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],
|
| 197 |
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"orientation": {
|
| 198 |
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"w": 0.6705456476652569,
|
| 199 |
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"xyz": [
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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}
|
| 206 |
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}
|
| 207 |
+
},
|
| 208 |
+
{
|
| 209 |
+
"part_name": "top rim",
|
| 210 |
+
"mask_color": "Green",
|
| 211 |
+
"graspable": true,
|
| 212 |
+
"grasp_scenarios": [
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the rim edge to lift the empty or lightly loaded bin",
|
| 215 |
+
"confidence": 0.71
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "pinch the rim to pull or reposition the bin on a surface",
|
| 219 |
+
"confidence": 0.79
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"scenario": "hold the rim to stabilize the bin during pouring or dumping",
|
| 223 |
+
"confidence": 0.67
|
| 224 |
+
}
|
| 225 |
+
],
|
| 226 |
+
"functional_labels": [
|
| 227 |
+
"reinforce opening edge",
|
| 228 |
+
"define opening boundary",
|
| 229 |
+
"support light lifting",
|
| 230 |
+
"provide alignment edge"
|
| 231 |
+
],
|
| 232 |
+
"semantic_description": "Thin beige plastic rim around the top opening with a semi-gloss smooth finish, slightly wavy contour, and narrow raised lip running around the bin perimeter.",
|
| 233 |
+
"id": 1,
|
| 234 |
+
"grasp_group": {
|
| 235 |
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"grasp_23": {
|
| 236 |
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"confidence": 0.2756331264972687,
|
| 237 |
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"position": [
|
| 238 |
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0.12498504528775811,
|
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dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:ab6975de26ed292aae66f63443a2a485eca3dbad155abf4f1d2ee2e0daf0ee49
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| 3 |
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size 3783492
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