Add asset livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099
Browse files
.gitattributes
CHANGED
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@@ -7756,4 +7756,5 @@ dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/affordanc
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| 7756 |
dataset/livingroom_supplies/ornaments/c3ab8d570b4e504a8b29c65b0d1c1565/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7757 |
dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7758 |
dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7759 |
-
dataset/livingroom_supplies/ornaments/
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| 7756 |
dataset/livingroom_supplies/ornaments/c3ab8d570b4e504a8b29c65b0d1c1565/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7757 |
dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7758 |
dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7759 |
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dataset/livingroom_supplies/ornaments/c8a319ec68f55571ac43c8dd828556a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7760 |
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dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,373 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer frame wall",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer side walls from opposite sides to pick up the object",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer frame to reposition or rotate the object",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the object by clamping two opposite outer edges",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"form the outer perimeter",
|
| 23 |
+
"provide the main structural side wall",
|
| 24 |
+
"protect the inner recessed area",
|
| 25 |
+
"provide a primary grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Wide dark gray to black outer border and side wall, likely painted wood or plastic, with a matte smooth hard surface and a beveled rectangular frame around the recessed center.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.8768784999847412,
|
| 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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"w": 0.14985343465665443,
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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_2": {
|
| 47 |
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"confidence": 0.8496784567832947,
|
| 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": 0.14050350857853616,
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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_3": {
|
| 63 |
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"confidence": 0.841541588306427,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
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| 70 |
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"w": 0.7032366708215013,
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| 71 |
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"xyz": [
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| 74 |
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_4": {
|
| 79 |
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"confidence": 0.8408978581428528,
|
| 80 |
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"position": [
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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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|
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"xyz": [
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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_5": {
|
| 95 |
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"confidence": 0.8336818814277649,
|
| 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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],
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| 101 |
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"orientation": {
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"w": 0.4927864610703207,
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"xyz": [
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]
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}
|
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},
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"grasp_6": {
|
| 111 |
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"confidence": 0.8336457014083862,
|
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"position": [
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| 123 |
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]
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}
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},
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"grasp_7": {
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| 127 |
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"confidence": 0.8333612680435181,
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| 139 |
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]
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}
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| 141 |
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},
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"grasp_8": {
|
| 143 |
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"confidence": 0.8317967057228088,
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"position": [
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],
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"orientation": {
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},
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"grasp_9": {
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"confidence": 0.8307546973228455,
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}
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},
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"grasp_10": {
|
| 175 |
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"confidence": 0.8306386470794678,
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|
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"grasp_13": {
|
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"confidence": 0.8258153796195984,
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"position": [
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| 223 |
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| 253 |
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}
|
| 254 |
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}
|
| 255 |
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},
|
| 256 |
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{
|
| 257 |
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"part_name": "bottom panel",
|
| 258 |
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"mask_color": "Red",
|
| 259 |
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"graspable": false,
|
| 260 |
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"grasp_scenarios": [],
|
| 261 |
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"functional_labels": [
|
| 262 |
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"close the underside",
|
| 263 |
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"support the overall structure",
|
| 264 |
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"form the base surface",
|
| 265 |
+
"provide underside support"
|
| 266 |
+
],
|
| 267 |
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"semantic_description": "Large dark gray underside panel with a matte smooth hard finish, flat and slightly tapered, covering most of the bottom of the object.",
|
| 268 |
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"id": 0,
|
| 269 |
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"grasp_group": {}
|
| 270 |
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},
|
| 271 |
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{
|
| 272 |
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"part_name": "recessed inner panel",
|
| 273 |
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"mask_color": "Blue",
|
| 274 |
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"graspable": false,
|
| 275 |
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"grasp_scenarios": [],
|
| 276 |
+
"functional_labels": [
|
| 277 |
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"form the central interior surface",
|
| 278 |
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"provide a recessed area inside the outer wall"
|
| 279 |
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],
|
| 280 |
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"semantic_description": "Recessed white rectangular central panel with a flat smooth appearance, positioned inside the dark outer frame and visible from the top.",
|
| 281 |
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"id": 2,
|
| 282 |
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"grasp_group": {}
|
| 283 |
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},
|
| 284 |
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{
|
| 285 |
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"part_name": "inner rim border",
|
| 286 |
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"mask_color": "Yellow",
|
| 287 |
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"graspable": true,
|
| 288 |
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"grasp_scenarios": [
|
| 289 |
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{
|
| 290 |
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"scenario": "use fingertips or a small gripper on the inner lip to help stabilize the object during handling",
|
| 291 |
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"confidence": 0.42
|
| 292 |
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}
|
| 293 |
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],
|
| 294 |
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"functional_labels": [
|
| 295 |
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"border the recessed inner panel",
|
| 296 |
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"transition between outer wall and inner panel",
|
| 297 |
+
"help define the inner recessed boundary"
|
| 298 |
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],
|
| 299 |
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"semantic_description": "Narrow white inner rectangular border with a smooth matte finish surrounding the central recessed panel, slightly below the outer dark rim.",
|
| 300 |
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"id": 3,
|
| 301 |
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"grasp_group": {
|
| 302 |
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"grasp_21": {
|
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"confidence": 0.8413729667663574,
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0.011561784660443664
|
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],
|
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|
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|
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|
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]
|
| 316 |
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}
|
| 317 |
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},
|
| 318 |
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"grasp_22": {
|
| 319 |
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"confidence": 0.8001345992088318,
|
| 320 |
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| 321 |
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|
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0.05272638879250735,
|
| 323 |
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0.018999980529770255
|
| 324 |
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],
|
| 325 |
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"orientation": {
|
| 326 |
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"w": 0.6962860430889972,
|
| 327 |
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"xyz": [
|
| 328 |
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0.028561907895515055,
|
| 329 |
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0.7158396495549696,
|
| 330 |
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|
| 331 |
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]
|
| 332 |
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}
|
| 333 |
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},
|
| 334 |
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"grasp_23": {
|
| 335 |
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"confidence": 0.6548682451248169,
|
| 336 |
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|
| 337 |
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|
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| 339 |
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0.013925023144111037
|
| 340 |
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],
|
| 341 |
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|
| 342 |
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|
| 343 |
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| 347 |
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]
|
| 348 |
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}
|
| 349 |
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},
|
| 350 |
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"grasp_25": {
|
| 351 |
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"confidence": 0.874917209148407,
|
| 352 |
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"position": [
|
| 353 |
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-0.1909931916743517,
|
| 354 |
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-0.08878338627982885,
|
| 355 |
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0.01826592511497438
|
| 356 |
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],
|
| 357 |
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"orientation": {
|
| 358 |
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|
| 359 |
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"xyz": [
|
| 360 |
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|
| 361 |
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0.7272095125755633,
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| 362 |
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0.0008102038002771928
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| 363 |
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]
|
| 364 |
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}
|
| 365 |
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}
|
| 366 |
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}
|
| 367 |
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}
|
| 368 |
+
],
|
| 369 |
+
"quality_check": {
|
| 370 |
+
"success": false,
|
| 371 |
+
"message": "Bottom panel wrongly marked ungraspable; underside/base can be used for supportive grasp or stabilization."
|
| 372 |
+
}
|
| 373 |
+
}
|
dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ea5160b0a5aa61efb28349c771ca8f84092f69a08222dc0be825c1a87187b1aa
|
| 3 |
+
size 37292308
|