Add asset desktop_supplies/decorations/2509ca002af558d495df4acaff50d646
Browse files
.gitattributes
CHANGED
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@@ -6097,4 +6097,4 @@ dataset/desktop_supplies/decorations/1e3423f53e6b5957bc4f6bc7591d10d5/affordance
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| 6097 |
dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6098 |
dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6099 |
dataset/desktop_supplies/decorations/249c548a5270507696cb9c803bb25e37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6100 |
-
dataset/desktop_supplies/decorations/
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| 6097 |
dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6098 |
dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6099 |
dataset/desktop_supplies/decorations/249c548a5270507696cb9c803bb25e37/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6100 |
+
dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "vase body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rounded body to pick up and move the vase",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp around the neck and upper body to reorient the vase",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the vase by holding the side wall during placement",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain flowers or decorative contents",
|
| 23 |
+
"provide the main vessel volume",
|
| 24 |
+
"support side grasping",
|
| 25 |
+
"display decorative form"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red vase body with a likely glass or glazed ceramic material, semi-gloss smooth hard surface, vertically lobed rounded shape, and bulbous lower volume with a narrower neck and flared rim.",
|
| 28 |
+
"id": 1,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_20": {
|
| 31 |
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"confidence": 0.9630391001701355,
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| 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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"w": 0.7247865191249283,
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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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}
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| 45 |
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},
|
| 46 |
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"grasp_21": {
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| 47 |
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"confidence": 0.9622282981872559,
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| 48 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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],
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"orientation": {
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"w": 0.2521072809093182,
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"xyz": [
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| 59 |
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]
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}
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| 61 |
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},
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| 62 |
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"grasp_23": {
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| 63 |
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"confidence": 0.958561360836029,
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"position": [
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],
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"orientation": {
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"xyz": [
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}
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},
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"grasp_25": {
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"confidence": 0.9557143449783325,
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"position": [
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],
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"orientation": {
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"w": 0.8414795485432142,
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"xyz": [
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| 91 |
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]
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}
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| 93 |
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},
|
| 94 |
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"grasp_26": {
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| 95 |
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"confidence": 0.9554107785224915,
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"position": [
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| 100 |
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],
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"orientation": {
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"w": 0.21060522451168362,
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"xyz": [
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]
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"grasp_28": {
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"confidence": 0.9543309211730957,
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"position": [
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],
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"orientation": {
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| 123 |
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]
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}
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},
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"grasp_29": {
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| 127 |
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"confidence": 0.9541208148002625,
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"position": [
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],
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"orientation": {
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]
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}
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},
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"grasp_32": {
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| 143 |
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"confidence": 0.9522427320480347,
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"position": [
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],
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"orientation": {
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| 155 |
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]
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| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_34": {
|
| 159 |
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"confidence": 0.9510653018951416,
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"position": [
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| 161 |
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],
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"orientation": {
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"w": 0.6052034399031239,
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"xyz": [
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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_35": {
|
| 175 |
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"confidence": 0.9510090947151184,
|
| 176 |
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"position": [
|
| 177 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.09319051131373528,
|
| 183 |
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"xyz": [
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| 187 |
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]
|
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}
|
| 189 |
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},
|
| 190 |
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"grasp_37": {
|
| 191 |
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"confidence": 0.9497857093811035,
|
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"position": [
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| 193 |
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],
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"orientation": {
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"w": 0.3378276779267654,
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"xyz": [
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|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_39": {
|
| 207 |
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"confidence": 0.9492564797401428,
|
| 208 |
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"position": [
|
| 209 |
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0.050973385863471776,
|
| 210 |
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|
| 211 |
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|
| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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"w": 0.8187988796303922,
|
| 215 |
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"xyz": [
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|
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|
| 218 |
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|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "base of vase",
|
| 226 |
+
"mask_color": "Red",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the base from below or around the foot while lifting the vase",
|
| 231 |
+
"confidence": 0.58
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "hold the base to stabilize the vase during careful placement",
|
| 235 |
+
"confidence": 0.67
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"functional_labels": [
|
| 239 |
+
"support upright standing",
|
| 240 |
+
"provide a stable contact surface",
|
| 241 |
+
"distribute weight at the bottom",
|
| 242 |
+
"help stabilize placement"
|
| 243 |
+
],
|
| 244 |
+
"semantic_description": "Small circular dark red bottom foot with a smooth hard finish, slightly recessed disk shape, located at the underside and serving as the vase's contact area with the table.",
|
| 245 |
+
"id": 0,
|
| 246 |
+
"grasp_group": {
|
| 247 |
+
"grasp_13": {
|
| 248 |
+
"confidence": 0.15051792562007904,
|
| 249 |
+
"position": [
|
| 250 |
+
0.10436661943094805,
|
| 251 |
+
0.014115253230556846,
|
| 252 |
+
-0.03311469592154026
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.7276248363312098,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.08204357654433911,
|
| 258 |
+
-0.6638218201419711,
|
| 259 |
+
0.15222200959517726
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_16": {
|
| 264 |
+
"confidence": 0.13274884223937988,
|
| 265 |
+
"position": [
|
| 266 |
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|
| 267 |
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|
| 268 |
+
-0.04407676123082638
|
| 269 |
+
],
|
| 270 |
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"orientation": {
|
| 271 |
+
"w": 0.7843272054047601,
|
| 272 |
+
"xyz": [
|
| 273 |
+
-0.13338156885829291,
|
| 274 |
+
-0.6041036533805098,
|
| 275 |
+
0.04581449468433383
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_19": {
|
| 280 |
+
"confidence": 0.11088111996650696,
|
| 281 |
+
"position": [
|
| 282 |
+
0.09594466193811968,
|
| 283 |
+
-0.006894795456901193,
|
| 284 |
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-0.05842431075870991
|
| 285 |
+
],
|
| 286 |
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"orientation": {
|
| 287 |
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"w": 0.8246814029486365,
|
| 288 |
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"xyz": [
|
| 289 |
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-0.0649010505162246,
|
| 290 |
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-0.5617123777936548,
|
| 291 |
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0.012947660250311408
|
| 292 |
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]
|
| 293 |
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}
|
| 294 |
+
}
|
| 295 |
+
}
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"quality_check": {
|
| 299 |
+
"success": true,
|
| 300 |
+
"message": "YES"
|
| 301 |
+
}
|
| 302 |
+
}
|
dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca18e073995ed0745b93b77111f53c08742a9bd9be318087b7591d33c20f342d
|
| 3 |
+
size 3779808
|