Add asset desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/affordance/affordance_annot.json +629 -0
- dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.urdf +1 -0
.gitattributes
CHANGED
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@@ -6106,4 +6106,4 @@ dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/affordance
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| 6106 |
dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6107 |
dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6108 |
dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6109 |
-
dataset/desktop_supplies/decorations/
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| 6106 |
dataset/desktop_supplies/decorations/31b1b234d09f50a9b852cae43bb74793/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6107 |
dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6108 |
dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6109 |
+
dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,629 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "seat",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the seat edges to lift and reposition the rocking chair",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the seat to stabilize the chair while setting it down",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support a seated user",
|
| 19 |
+
"provide the main sitting surface",
|
| 20 |
+
"transfer load to the frame"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Flat medium-size gray rectangular seat panel with a hard smooth matte finish, located centrally between the side frames and slightly angled relative to the backrest.",
|
| 23 |
+
"id": 1,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.832482635974884,
|
| 27 |
+
"position": [
|
| 28 |
+
0.002138189724064432,
|
| 29 |
+
-0.10422170697711408,
|
| 30 |
+
0.030062176738283597
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.01891936869692406,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.02068229826897439,
|
| 36 |
+
-0.7563815828902644,
|
| 37 |
+
-0.653529801226265
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_2": {
|
| 42 |
+
"confidence": 0.31562158465385437,
|
| 43 |
+
"position": [
|
| 44 |
+
0.09425408193783369,
|
| 45 |
+
-0.03186114295385778,
|
| 46 |
+
-0.009203315261402167
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.7088002872176892,
|
| 50 |
+
"xyz": [
|
| 51 |
+
-0.07478210443752376,
|
| 52 |
+
-0.697139982397009,
|
| 53 |
+
-0.07749602983065881
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_3": {
|
| 58 |
+
"confidence": 0.31373557448387146,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.08359915962500963,
|
| 61 |
+
-0.06255576550029218,
|
| 62 |
+
-0.003531835987814702
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.21926257350421927,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.676263463303916,
|
| 68 |
+
-0.19593706071135197,
|
| 69 |
+
-0.6754260287405986
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_5": {
|
| 74 |
+
"confidence": 0.2190663069486618,
|
| 75 |
+
"position": [
|
| 76 |
+
-0.09764054616971407,
|
| 77 |
+
0.0013447410892695189,
|
| 78 |
+
-0.0007326040795305744
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.7146072409100296,
|
| 82 |
+
"xyz": [
|
| 83 |
+
-8.234606537785894e-05,
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}
|
| 496 |
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}
|
| 497 |
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}
|
| 498 |
+
},
|
| 499 |
+
{
|
| 500 |
+
"part_name": "rocker base frame",
|
| 501 |
+
"mask_color": "Magenta",
|
| 502 |
+
"graspable": true,
|
| 503 |
+
"grasp_scenarios": [
|
| 504 |
+
{
|
| 505 |
+
"scenario": "grasp the lower side rails or rocker base to lift the chair securely",
|
| 506 |
+
"confidence": 0.88
|
| 507 |
+
},
|
| 508 |
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{
|
| 509 |
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"scenario": "hold the base frame to stabilize the chair while moving it",
|
| 510 |
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"confidence": 0.84
|
| 511 |
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},
|
| 512 |
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{
|
| 513 |
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"scenario": "grasp one lower rail to rotate or reposition the chair",
|
| 514 |
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"confidence": 0.72
|
| 515 |
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}
|
| 516 |
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],
|
| 517 |
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"functional_labels": [
|
| 518 |
+
"support the whole chair",
|
| 519 |
+
"provide ground contact",
|
| 520 |
+
"enable rocking motion",
|
| 521 |
+
"stabilize the structure"
|
| 522 |
+
],
|
| 523 |
+
"semantic_description": "Large gray tubular lower frame with a hard smooth matte finish, wrapping around the bottom and sides as rocker rails and supporting legs that contact the floor.",
|
| 524 |
+
"id": 7,
|
| 525 |
+
"grasp_group": {
|
| 526 |
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"grasp_20": {
|
| 527 |
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"confidence": 0.9088782072067261,
|
| 528 |
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"position": [
|
| 529 |
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|
| 530 |
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-0.11744919209741056,
|
| 531 |
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-0.03187050252745394
|
| 532 |
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],
|
| 533 |
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"orientation": {
|
| 534 |
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"w": 0.7189496778682402,
|
| 535 |
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"xyz": [
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| 536 |
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-0.6937909077478954,
|
| 537 |
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-0.04198663472922681,
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| 538 |
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-0.001630804592654345
|
| 539 |
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]
|
| 540 |
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}
|
| 541 |
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},
|
| 542 |
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"grasp_23": {
|
| 543 |
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"confidence": 0.8629806041717529,
|
| 544 |
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"position": [
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| 545 |
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-0.0032568700989941135,
|
| 546 |
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| 547 |
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|
| 548 |
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],
|
| 549 |
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"orientation": {
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| 550 |
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"w": 0.04568567360251918,
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| 551 |
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"xyz": [
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| 552 |
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| 553 |
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|
| 554 |
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| 555 |
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]
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| 556 |
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}
|
| 557 |
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},
|
| 558 |
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"grasp_24": {
|
| 559 |
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"confidence": 0.8553760647773743,
|
| 560 |
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"position": [
|
| 561 |
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0.014858370515867136,
|
| 562 |
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0.09852563799358904,
|
| 563 |
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-0.03381373315642122
|
| 564 |
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],
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| 565 |
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"orientation": {
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| 566 |
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"w": 0.07401540514862769,
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| 567 |
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"xyz": [
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|
| 569 |
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|
| 570 |
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|
| 571 |
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]
|
| 572 |
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}
|
| 573 |
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},
|
| 574 |
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"grasp_26": {
|
| 575 |
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"confidence": 0.8448712825775146,
|
| 576 |
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"position": [
|
| 577 |
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0.005062659140094183,
|
| 578 |
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-0.10216218023560941,
|
| 579 |
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0.007725692805252038
|
| 580 |
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],
|
| 581 |
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"orientation": {
|
| 582 |
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"w": 0.7115990096737336,
|
| 583 |
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"xyz": [
|
| 584 |
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|
| 585 |
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|
| 586 |
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-0.006287621353750422
|
| 587 |
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]
|
| 588 |
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}
|
| 589 |
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},
|
| 590 |
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"grasp_30": {
|
| 591 |
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"confidence": 0.7993603348731995,
|
| 592 |
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"position": [
|
| 593 |
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0.0034915808209916577,
|
| 594 |
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0.10765433521009982,
|
| 595 |
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-0.04965814902971033
|
| 596 |
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],
|
| 597 |
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"orientation": {
|
| 598 |
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"w": 0.7643824223133536,
|
| 599 |
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"xyz": [
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| 600 |
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0.643273178001451,
|
| 601 |
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|
| 602 |
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0.03988989510680732
|
| 603 |
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]
|
| 604 |
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}
|
| 605 |
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},
|
| 606 |
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"grasp_38": {
|
| 607 |
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"confidence": 0.7250216603279114,
|
| 608 |
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"position": [
|
| 609 |
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|
| 610 |
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|
| 611 |
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-0.12819537475297693
|
| 612 |
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],
|
| 613 |
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"orientation": {
|
| 614 |
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"w": 0.9934316121972515,
|
| 615 |
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"xyz": [
|
| 616 |
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-0.09585168646570198,
|
| 617 |
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0.0377087840892536,
|
| 618 |
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-0.049841084371838144
|
| 619 |
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]
|
| 620 |
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}
|
| 621 |
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}
|
| 622 |
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}
|
| 623 |
+
}
|
| 624 |
+
],
|
| 625 |
+
"quality_check": {
|
| 626 |
+
"success": true,
|
| 627 |
+
"message": "YES"
|
| 628 |
+
}
|
| 629 |
+
}
|
dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e198260226ab15deb455eaedafb133edcea33665d1b315a4ad9369ee4f268158
|
| 3 |
+
size 3785912
|
dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>NO: {"summary":"Object is a rocking chair, not a phone stand; seat/back and frame are segmented plausibly but category mismatch is unsupported by merging.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>NO: {"summary":"Object is a rocking chair, not a phone stand; seat/back and frame are segmented plausibly but category mismatch is unsupported by merging.","merge_groups":[]}</PartSegChecker>
|