Add asset bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57
Browse files
.gitattributes
CHANGED
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@@ -8078,3 +8078,4 @@ dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/affordance/mes
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| 8078 |
dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8079 |
dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8080 |
dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8078 |
dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8079 |
dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8080 |
dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8081 |
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dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,354 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid of glasses case",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the glasses case",
|
| 10 |
+
"confidence": 0.81
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper shell to stabilize the case during inspection or placement",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the case interior",
|
| 19 |
+
"protect stored glasses",
|
| 20 |
+
"open and close access",
|
| 21 |
+
"form the upper shell"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large oblong upper shell in glossy light silver plastic or metal with a hard smooth reflective surface, gently domed and spanning the top half of the case.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.2685576379299164,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.2348791565314491,
|
| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.2192486971616745,
|
| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.2039030650547295,
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| 51 |
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"xyz": [
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| 54 |
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| 55 |
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]
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| 56 |
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}
|
| 57 |
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},
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| 58 |
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"grasp_3": {
|
| 59 |
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"confidence": 0.1294819861650467,
|
| 60 |
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"position": [
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| 62 |
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| 63 |
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| 64 |
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],
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"orientation": {
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| 67 |
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"xyz": [
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| 70 |
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| 71 |
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]
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| 72 |
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}
|
| 73 |
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},
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| 74 |
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"grasp_4": {
|
| 75 |
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"confidence": 0.12567146122455597,
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| 76 |
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"position": [
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| 80 |
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],
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"orientation": {
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| 86 |
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| 87 |
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]
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| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_10": {
|
| 91 |
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"confidence": 0.29416176676750183,
|
| 92 |
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"position": [
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| 94 |
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| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
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"w": 0.2554706332488074,
|
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"xyz": [
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| 102 |
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| 103 |
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]
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| 104 |
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}
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| 105 |
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},
|
| 106 |
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"grasp_11": {
|
| 107 |
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"confidence": 0.2725397050380707,
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"position": [
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| 112 |
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],
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"orientation": {
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_12": {
|
| 123 |
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"confidence": 0.25975126028060913,
|
| 124 |
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| 125 |
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| 127 |
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| 128 |
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}
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|
| 151 |
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}
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| 153 |
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},
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| 154 |
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|
| 155 |
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"confidence": 0.19175340235233307,
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| 171 |
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"grasp_19": {
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"confidence": 0.15058135986328125,
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|
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}
|
| 218 |
+
}
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"part_name": "base of glasses case",
|
| 222 |
+
"mask_color": "Green",
|
| 223 |
+
"graspable": true,
|
| 224 |
+
"grasp_scenarios": [
|
| 225 |
+
{
|
| 226 |
+
"scenario": "grasp the base to pick up and carry the closed case",
|
| 227 |
+
"confidence": 0.88
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"scenario": "hold the base steady while the lid is opened",
|
| 231 |
+
"confidence": 0.84
|
| 232 |
+
}
|
| 233 |
+
],
|
| 234 |
+
"functional_labels": [
|
| 235 |
+
"support stored glasses",
|
| 236 |
+
"form the lower shell",
|
| 237 |
+
"provide main grasp surface",
|
| 238 |
+
"stabilize the case on a surface"
|
| 239 |
+
],
|
| 240 |
+
"semantic_description": "Large rounded lower shell in glossy light silver plastic or metal with a hard smooth reflective finish, slightly flatter than the lid and forming the bottom half of the case.",
|
| 241 |
+
"id": 1,
|
| 242 |
+
"grasp_group": {
|
| 243 |
+
"grasp_28": {
|
| 244 |
+
"confidence": 0.32353508472442627,
|
| 245 |
+
"position": [
|
| 246 |
+
0.014328557994303992,
|
| 247 |
+
-0.06181901360832853,
|
| 248 |
+
-0.10186546063050628
|
| 249 |
+
],
|
| 250 |
+
"orientation": {
|
| 251 |
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"w": 0.9991829832177953,
|
| 252 |
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"xyz": [
|
| 253 |
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-0.011978090748497741,
|
| 254 |
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-0.03712641966170194,
|
| 255 |
+
0.010560319744731522
|
| 256 |
+
]
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"grasp_29": {
|
| 260 |
+
"confidence": 0.2990681827068329,
|
| 261 |
+
"position": [
|
| 262 |
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0.00696835806229501,
|
| 263 |
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-0.0238770250507514,
|
| 264 |
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-0.10406718170270324
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
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"w": 0.9990541186877608,
|
| 268 |
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"xyz": [
|
| 269 |
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0.022696039337937624,
|
| 270 |
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0.02011678858951582,
|
| 271 |
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-0.031162036971883415
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_34": {
|
| 276 |
+
"confidence": 0.1804981827735901,
|
| 277 |
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"position": [
|
| 278 |
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0.0014492860027530696,
|
| 279 |
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-0.04035259450756712,
|
| 280 |
+
-0.10311592882499099
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
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"w": 0.040361712340146634,
|
| 284 |
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"xyz": [
|
| 285 |
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0.036126160039368506,
|
| 286 |
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-0.02551228492088853,
|
| 287 |
+
0.9982058685741616
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_35": {
|
| 292 |
+
"confidence": 0.14788228273391724,
|
| 293 |
+
"position": [
|
| 294 |
+
-0.0021666782013198826,
|
| 295 |
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-0.032031283182732295,
|
| 296 |
+
0.09268177533522248
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.044539682554044946,
|
| 300 |
+
"xyz": [
|
| 301 |
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0.02132495568967081,
|
| 302 |
+
0.9982384195811737,
|
| 303 |
+
-0.032886480731438066
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
},
|
| 307 |
+
"grasp_39": {
|
| 308 |
+
"confidence": 0.513556957244873,
|
| 309 |
+
"position": [
|
| 310 |
+
0.006894512098369887,
|
| 311 |
+
0.007344340505369473,
|
| 312 |
+
-0.10260844742879272
|
| 313 |
+
],
|
| 314 |
+
"orientation": {
|
| 315 |
+
"w": 0.9997193180198046,
|
| 316 |
+
"xyz": [
|
| 317 |
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0.004856335568212521,
|
| 318 |
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-0.005845738328946193,
|
| 319 |
+
0.02243944130889281
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
}
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
+
{
|
| 326 |
+
"part_name": "latch tab",
|
| 327 |
+
"mask_color": "Blue",
|
| 328 |
+
"graspable": true,
|
| 329 |
+
"grasp_scenarios": [
|
| 330 |
+
{
|
| 331 |
+
"scenario": "pinch the latch tab to release or open the case",
|
| 332 |
+
"confidence": 0.77
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"scenario": "use the tab as a local pull point for manipulating the front edge",
|
| 336 |
+
"confidence": 0.48
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"secure the case closed",
|
| 341 |
+
"provide opening point",
|
| 342 |
+
"engage closure mechanism",
|
| 343 |
+
"indicate front side"
|
| 344 |
+
],
|
| 345 |
+
"semantic_description": "Small rectangular silver tab on the front side of the case with a hard smooth shiny surface, protruding slightly as a compact closure feature.",
|
| 346 |
+
"id": 2,
|
| 347 |
+
"grasp_group": {}
|
| 348 |
+
}
|
| 349 |
+
],
|
| 350 |
+
"quality_check": {
|
| 351 |
+
"success": true,
|
| 352 |
+
"message": "YES"
|
| 353 |
+
}
|
| 354 |
+
}
|
dataset/bedroom_supplies/storage/8c0c96f4567f5063bbcaaf0bb2e80d57/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1de8aa3a3e7de651e898fc0064a6a5da21ac2275fcd0cab4d91c880c031b58f9
|
| 3 |
+
size 3782692
|