Add asset livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba
Browse files- .gitattributes +2 -1
- dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.urdf +4 -3
- dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/affordance_annot.json +975 -0
- dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -7733,4 +7733,5 @@ dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/affordanc
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| 7733 |
dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7734 |
dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7735 |
dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7736 |
-
dataset/livingroom_supplies/ornaments/
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| 7733 |
dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7734 |
dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7735 |
dataset/livingroom_supplies/ornaments/94762781a7005c20b4df62dbdb2521aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7736 |
+
dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7737 |
+
dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.urdf
CHANGED
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@@ -42,16 +42,17 @@
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| 42 |
<ImageSegChecker>YES</ImageSegChecker>
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| 43 |
<ImageAestheticChecker>4.811840653419495</ImageAestheticChecker>
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| 44 |
<overall>YES</overall>
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| 45 |
-
<PartSegChecker>
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| 46 |
</quality>
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| 47 |
<affordance>
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| 48 |
-
<part_count>
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| 49 |
<visual_seg>
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| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
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| 51 |
<geometry>
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| 52 |
-
<mesh filename="
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 42 |
<ImageSegChecker>YES</ImageSegChecker>
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| 43 |
<ImageAestheticChecker>4.811840653419495</ImageAestheticChecker>
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| 44 |
<overall>YES</overall>
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| 45 |
+
<PartSegChecker>YES</PartSegChecker>
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| 46 |
</quality>
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| 47 |
<affordance>
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| 48 |
+
<part_count>23</part_count>
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| 49 |
<visual_seg>
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| 50 |
<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
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| 51 |
<geometry>
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+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,975 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top canopy disk",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top canopy disk around its rim to lift or reposition the wind chime during setup",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the canopy to stabilize the chime while untangling the tubes",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support hanging tubes",
|
| 19 |
+
"mount suspension cords",
|
| 20 |
+
"provide top structure",
|
| 21 |
+
"stabilize overall assembly"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Round light gray circular canopy at the top, likely painted metal or wood, with a smooth matte surface and medium size relative to the whole chime.",
|
| 24 |
+
"id": 10,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "hanging connector and top stem",
|
| 29 |
+
"mask_color": "Crimson",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "pinch the top connector/stem to pick up or hang the wind chime",
|
| 34 |
+
"confidence": 0.84
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the top connector to orient the chime before mounting",
|
| 38 |
+
"confidence": 0.78
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"hang the wind chime",
|
| 43 |
+
"connect to support point",
|
| 44 |
+
"provide suspension point"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Small red segmented connector and short vertical stem at the very top of the chime, slender and rigid, attached above the canopy.",
|
| 47 |
+
"id": 16,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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| 55 |
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],
|
| 56 |
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| 57 |
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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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| 63 |
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| 64 |
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},
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| 65 |
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|
| 66 |
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 74 |
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| 78 |
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| 79 |
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| 80 |
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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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| 86 |
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|
| 87 |
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| 88 |
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| 90 |
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| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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},
|
| 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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|
| 102 |
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| 103 |
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],
|
| 104 |
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|
| 105 |
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|
| 106 |
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| 108 |
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| 109 |
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| 110 |
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]
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| 111 |
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}
|
| 112 |
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},
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| 113 |
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|
| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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],
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| 120 |
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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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]
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| 127 |
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| 128 |
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},
|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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|
| 133 |
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|
| 134 |
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0.31473674811422825
|
| 135 |
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],
|
| 136 |
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|
| 137 |
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"w": 0.43049812435682505,
|
| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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| 142 |
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]
|
| 143 |
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}
|
| 144 |
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},
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| 145 |
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|
| 146 |
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"confidence": 0.8953552842140198,
|
| 147 |
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|
| 148 |
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|
| 149 |
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0.08534989203326404,
|
| 150 |
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0.3010471109300852
|
| 151 |
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],
|
| 152 |
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"orientation": {
|
| 153 |
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| 154 |
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| 155 |
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0.8683330967947073,
|
| 156 |
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| 157 |
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0.010962885174847295
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| 158 |
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]
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| 159 |
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}
|
| 160 |
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},
|
| 161 |
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|
| 162 |
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"confidence": 0.8933448195457458,
|
| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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0.3099884632974863
|
| 167 |
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],
|
| 168 |
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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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]
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| 175 |
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}
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| 176 |
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},
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| 177 |
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|
| 178 |
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"confidence": 0.8907176852226257,
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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],
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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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]
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| 191 |
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| 192 |
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},
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| 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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| 198 |
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| 199 |
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],
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| 200 |
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| 201 |
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| 202 |
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0.9392457919575096,
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| 206 |
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]
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| 207 |
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}
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| 208 |
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},
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| 209 |
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"grasp_225": {
|
| 210 |
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"confidence": 0.889680027961731,
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| 211 |
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],
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]
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},
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| 225 |
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"grasp_226": {
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| 226 |
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| 227 |
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],
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]
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},
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],
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},
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],
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]
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},
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],
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},
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| 700 |
+
"grasp_scenarios": [
|
| 701 |
+
{
|
| 702 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 703 |
+
"confidence": 0.37
|
| 704 |
+
}
|
| 705 |
+
],
|
| 706 |
+
"functional_labels": [
|
| 707 |
+
"resonate when struck",
|
| 708 |
+
"produce chime tone",
|
| 709 |
+
"hang from top canopy"
|
| 710 |
+
],
|
| 711 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 712 |
+
"id": 11,
|
| 713 |
+
"grasp_group": {}
|
| 714 |
+
},
|
| 715 |
+
{
|
| 716 |
+
"part_name": "chime tube",
|
| 717 |
+
"mask_color": "Navy",
|
| 718 |
+
"graspable": true,
|
| 719 |
+
"grasp_scenarios": [
|
| 720 |
+
{
|
| 721 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 722 |
+
"confidence": 0.37
|
| 723 |
+
}
|
| 724 |
+
],
|
| 725 |
+
"functional_labels": [
|
| 726 |
+
"resonate when struck",
|
| 727 |
+
"produce chime tone",
|
| 728 |
+
"hang from top canopy"
|
| 729 |
+
],
|
| 730 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 731 |
+
"id": 13,
|
| 732 |
+
"grasp_group": {
|
| 733 |
+
"grasp_191": {
|
| 734 |
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"confidence": 0.012661718763411045,
|
| 735 |
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"position": [
|
| 736 |
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0.11316292983246967,
|
| 737 |
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0.07890491629950702,
|
| 738 |
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0.029120538849383593
|
| 739 |
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],
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| 740 |
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"orientation": {
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| 741 |
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"w": 0.36671051358682355,
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| 742 |
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"xyz": [
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| 743 |
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-0.30827063352159056,
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| 744 |
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-0.5540373304177676,
|
| 745 |
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0.6808342325681332
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| 746 |
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]
|
| 747 |
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}
|
| 748 |
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}
|
| 749 |
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}
|
| 750 |
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},
|
| 751 |
+
{
|
| 752 |
+
"part_name": "chime tube",
|
| 753 |
+
"mask_color": "Olive",
|
| 754 |
+
"graspable": true,
|
| 755 |
+
"grasp_scenarios": [
|
| 756 |
+
{
|
| 757 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 758 |
+
"confidence": 0.36
|
| 759 |
+
}
|
| 760 |
+
],
|
| 761 |
+
"functional_labels": [
|
| 762 |
+
"resonate when struck",
|
| 763 |
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"produce chime tone",
|
| 764 |
+
"hang from top canopy"
|
| 765 |
+
],
|
| 766 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 767 |
+
"id": 14,
|
| 768 |
+
"grasp_group": {}
|
| 769 |
+
},
|
| 770 |
+
{
|
| 771 |
+
"part_name": "chime tube",
|
| 772 |
+
"mask_color": "Gray",
|
| 773 |
+
"graspable": true,
|
| 774 |
+
"grasp_scenarios": [
|
| 775 |
+
{
|
| 776 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 777 |
+
"confidence": 0.36
|
| 778 |
+
}
|
| 779 |
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],
|
| 780 |
+
"functional_labels": [
|
| 781 |
+
"resonate when struck",
|
| 782 |
+
"produce chime tone",
|
| 783 |
+
"hang from top canopy"
|
| 784 |
+
],
|
| 785 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 786 |
+
"id": 15,
|
| 787 |
+
"grasp_group": {}
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"part_name": "chime tube",
|
| 791 |
+
"mask_color": "White",
|
| 792 |
+
"graspable": true,
|
| 793 |
+
"grasp_scenarios": [
|
| 794 |
+
{
|
| 795 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 796 |
+
"confidence": 0.36
|
| 797 |
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}
|
| 798 |
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],
|
| 799 |
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"functional_labels": [
|
| 800 |
+
"resonate when struck",
|
| 801 |
+
"produce chime tone",
|
| 802 |
+
"hang from top canopy"
|
| 803 |
+
],
|
| 804 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 805 |
+
"id": 17,
|
| 806 |
+
"grasp_group": {
|
| 807 |
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"grasp_237": {
|
| 808 |
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"confidence": 0.07942665368318558,
|
| 809 |
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"position": [
|
| 810 |
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0.15478874993277714,
|
| 811 |
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-0.0015472336672246456,
|
| 812 |
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0.06720209307968616
|
| 813 |
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],
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| 814 |
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"orientation": {
|
| 815 |
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"w": 0.48748170199596946,
|
| 816 |
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"xyz": [
|
| 817 |
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0.4783716424556599,
|
| 818 |
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-0.4753209861851363,
|
| 819 |
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-0.5546098827152083
|
| 820 |
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]
|
| 821 |
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}
|
| 822 |
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},
|
| 823 |
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"grasp_245": {
|
| 824 |
+
"confidence": 0.23003935813903809,
|
| 825 |
+
"position": [
|
| 826 |
+
0.15946010005427524,
|
| 827 |
+
7.000123150646687e-05,
|
| 828 |
+
0.1556499395519495
|
| 829 |
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],
|
| 830 |
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"orientation": {
|
| 831 |
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"w": 0.44993953957466043,
|
| 832 |
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"xyz": [
|
| 833 |
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0.550003559554562,
|
| 834 |
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-0.5379172891464192,
|
| 835 |
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-0.45353664156495765
|
| 836 |
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]
|
| 837 |
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}
|
| 838 |
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},
|
| 839 |
+
"grasp_247": {
|
| 840 |
+
"confidence": 0.13037317991256714,
|
| 841 |
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"position": [
|
| 842 |
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0.15370333445025608,
|
| 843 |
+
0.012590423924848437,
|
| 844 |
+
0.11759436316788197
|
| 845 |
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],
|
| 846 |
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"orientation": {
|
| 847 |
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"w": 0.48229067461333447,
|
| 848 |
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"xyz": [
|
| 849 |
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0.5305276306629395,
|
| 850 |
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-0.5129890669061458,
|
| 851 |
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-0.47199402063897355
|
| 852 |
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]
|
| 853 |
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}
|
| 854 |
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}
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"part_name": "chime tube",
|
| 859 |
+
"mask_color": "Burnt Orange",
|
| 860 |
+
"graspable": true,
|
| 861 |
+
"grasp_scenarios": [
|
| 862 |
+
{
|
| 863 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 864 |
+
"confidence": 0.35
|
| 865 |
+
}
|
| 866 |
+
],
|
| 867 |
+
"functional_labels": [
|
| 868 |
+
"resonate when struck",
|
| 869 |
+
"produce chime tone",
|
| 870 |
+
"hang from top canopy"
|
| 871 |
+
],
|
| 872 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 873 |
+
"id": 18,
|
| 874 |
+
"grasp_group": {}
|
| 875 |
+
},
|
| 876 |
+
{
|
| 877 |
+
"part_name": "chime tube",
|
| 878 |
+
"mask_color": "Jade",
|
| 879 |
+
"graspable": true,
|
| 880 |
+
"grasp_scenarios": [
|
| 881 |
+
{
|
| 882 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 883 |
+
"confidence": 0.35
|
| 884 |
+
}
|
| 885 |
+
],
|
| 886 |
+
"functional_labels": [
|
| 887 |
+
"resonate when struck",
|
| 888 |
+
"produce chime tone",
|
| 889 |
+
"hang from top canopy"
|
| 890 |
+
],
|
| 891 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 892 |
+
"id": 19,
|
| 893 |
+
"grasp_group": {}
|
| 894 |
+
},
|
| 895 |
+
{
|
| 896 |
+
"part_name": "chime tube",
|
| 897 |
+
"mask_color": "Violet",
|
| 898 |
+
"graspable": true,
|
| 899 |
+
"grasp_scenarios": [
|
| 900 |
+
{
|
| 901 |
+
"scenario": "grasp a tube to steady the wind chime while inspecting or untangling it",
|
| 902 |
+
"confidence": 0.35
|
| 903 |
+
}
|
| 904 |
+
],
|
| 905 |
+
"functional_labels": [
|
| 906 |
+
"resonate when struck",
|
| 907 |
+
"produce chime tone",
|
| 908 |
+
"hang from top canopy"
|
| 909 |
+
],
|
| 910 |
+
"semantic_description": "Slender vertical light gray metallic tube with a smooth hard surface, hanging from the top canopy as one of the sound-producing elements.",
|
| 911 |
+
"id": 20,
|
| 912 |
+
"grasp_group": {}
|
| 913 |
+
},
|
| 914 |
+
{
|
| 915 |
+
"part_name": "top hanging cord",
|
| 916 |
+
"mask_color": "Gold",
|
| 917 |
+
"graspable": false,
|
| 918 |
+
"grasp_scenarios": [],
|
| 919 |
+
"functional_labels": [
|
| 920 |
+
"connect canopy to hanging loop",
|
| 921 |
+
"suspend the whole chime from above",
|
| 922 |
+
"allow free hanging"
|
| 923 |
+
],
|
| 924 |
+
"semantic_description": "Thin yellow flexible cord or loop near the top of the canopy, visible as a narrow curved line used for suspension.",
|
| 925 |
+
"id": 21,
|
| 926 |
+
"grasp_group": {}
|
| 927 |
+
},
|
| 928 |
+
{
|
| 929 |
+
"part_name": "tube suspension cord",
|
| 930 |
+
"mask_color": "Deep Sky Blue",
|
| 931 |
+
"graspable": false,
|
| 932 |
+
"grasp_scenarios": [],
|
| 933 |
+
"functional_labels": [
|
| 934 |
+
"suspend a tube from the top canopy",
|
| 935 |
+
"connect moving parts",
|
| 936 |
+
"allow free swinging"
|
| 937 |
+
],
|
| 938 |
+
"semantic_description": "Very thin blue cord running from the canopy down to a tube, narrow and flexible and only partly visible between the tubes.",
|
| 939 |
+
"id": 22,
|
| 940 |
+
"grasp_group": {}
|
| 941 |
+
},
|
| 942 |
+
{
|
| 943 |
+
"part_name": "tube suspension cord",
|
| 944 |
+
"mask_color": "Red",
|
| 945 |
+
"graspable": false,
|
| 946 |
+
"grasp_scenarios": [],
|
| 947 |
+
"functional_labels": [
|
| 948 |
+
"suspend a tube from the top canopy",
|
| 949 |
+
"connect moving parts",
|
| 950 |
+
"allow free swinging"
|
| 951 |
+
],
|
| 952 |
+
"semantic_description": "Very thin red cord running from the canopy down to a tube, narrow and flexible and only partly visible between the tubes.",
|
| 953 |
+
"id": 0,
|
| 954 |
+
"grasp_group": {}
|
| 955 |
+
},
|
| 956 |
+
{
|
| 957 |
+
"part_name": "central striker cord",
|
| 958 |
+
"mask_color": "Maroon",
|
| 959 |
+
"graspable": false,
|
| 960 |
+
"grasp_scenarios": [],
|
| 961 |
+
"functional_labels": [
|
| 962 |
+
"suspend the wind catcher",
|
| 963 |
+
"connect wind catcher to the central striker assembly",
|
| 964 |
+
"transfer motion from wind catcher"
|
| 965 |
+
],
|
| 966 |
+
"semantic_description": "Thin dark red vertical cord hanging down the center of the chime to the bottom wind catcher, flexible and taut.",
|
| 967 |
+
"id": 12,
|
| 968 |
+
"grasp_group": {}
|
| 969 |
+
}
|
| 970 |
+
],
|
| 971 |
+
"quality_check": {
|
| 972 |
+
"success": false,
|
| 973 |
+
"message": "Several mask colors and part identities are wrong or incomplete; striker disk is missing and cords are mislabeled by color."
|
| 974 |
+
}
|
| 975 |
+
}
|
dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:99d7a08bbc3c728fb7c0dedfae2bb3535a4d4667804825eb9c1afd9f8a82cf8a
|
| 3 |
+
size 728492
|