Add asset desktop_supplies/office_stationery/be398aed07b557248ca357fb3d22c146
Browse files
.gitattributes
CHANGED
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@@ -6481,3 +6481,4 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/affo
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| 6481 |
dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6482 |
dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6481 |
dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6482 |
dataset/desktop_supplies/office_stationery/bc167e95096955a98fc85bf880fbace6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6483 |
dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6484 |
+
dataset/desktop_supplies/office_stationery/be398aed07b557248ca357fb3d22c146/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/be398aed07b557248ca357fb3d22c146/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,861 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tip cone",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"form the writing-end cover shape",
|
| 10 |
+
"protect the hidden writing tip inside",
|
| 11 |
+
"guide orientation toward the writing end"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Tapered conical writing-end piece at the front of the pen, dark metallic gray with a smooth reflective finish, larger than a tiny tip and appearing as the pointed end of the capped pen.",
|
| 14 |
+
"id": 1,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
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{
|
| 18 |
+
"part_name": "front ring",
|
| 19 |
+
"mask_color": "Orange",
|
| 20 |
+
"graspable": false,
|
| 21 |
+
"grasp_scenarios": [],
|
| 22 |
+
"functional_labels": [
|
| 23 |
+
"join the tip cone to the front barrel",
|
| 24 |
+
"provide a section boundary",
|
| 25 |
+
"reinforce the front assembly"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thin narrow ring directly behind the pointed front cone, metallic and smooth, encircling the pen near the writing end.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "front barrel section",
|
| 33 |
+
"mask_color": "Blue",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the front barrel to pick up the pen from a table",
|
| 38 |
+
"confidence": 0.93
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the front barrel to orient the pen for handoff or manipulation",
|
| 42 |
+
"confidence": 0.89
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "stabilize the pen by clamping the front barrel during inspection",
|
| 46 |
+
"confidence": 0.85
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"main grasp surface",
|
| 51 |
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"support handling and manipulation",
|
| 52 |
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"form the front body",
|
| 53 |
+
"house internal pen components"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Long cylindrical body section between the front ring and the center band, dark gray metal with engraved decorative texture and a slightly reflective finish.",
|
| 56 |
+
"id": 2,
|
| 57 |
+
"grasp_group": {
|
| 58 |
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"grasp_20": {
|
| 59 |
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"confidence": 0.9945852160453796,
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| 60 |
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"position": [
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| 61 |
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| 62 |
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0.09734857827425003,
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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"w": 0.5557209696384308,
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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]
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| 72 |
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}
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| 73 |
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},
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| 74 |
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"grasp_21": {
|
| 75 |
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"confidence": 0.9937546253204346,
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| 76 |
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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_22": {
|
| 91 |
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"confidence": 0.9935353994369507,
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| 92 |
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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_23": {
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| 107 |
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"confidence": 0.9935134053230286,
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],
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"orientation": {
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},
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"grasp_24": {
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| 123 |
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"confidence": 0.9931655526161194,
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],
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"confidence": 0.9930461049079895,
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]
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| 153 |
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},
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"grasp_26": {
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| 155 |
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"confidence": 0.9930359721183777,
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| 156 |
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},
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"grasp_27": {
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| 171 |
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"confidence": 0.9930211901664734,
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],
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]
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}
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| 185 |
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},
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| 186 |
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"grasp_29": {
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| 187 |
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"confidence": 0.9928432703018188,
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| 188 |
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"position": [
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0.09659454226493835,
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0.035434507532045245
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],
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]
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| 201 |
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},
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|
| 203 |
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"confidence": 0.9926778078079224,
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0.04171520471572876,
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],
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},
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0.040099580539390445
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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_34": {
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| 235 |
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0.0934208482503891,
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0.0318977243732661
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],
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| 241 |
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"orientation": {
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0.5813047922021524,
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]
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}
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},
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"grasp_36": {
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| 251 |
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"confidence": 0.9925333261489868,
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0.09591218829154968,
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],
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]
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},
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"grasp_37": {
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| 267 |
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"confidence": 0.992508590221405,
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0.1014297753572464,
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0.006036306032910943
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],
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"orientation": {
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},
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"grasp_38": {
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"position": [
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0.002793647348880768
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],
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| 289 |
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"orientation": {
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0.49010571490159255,
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0.5193769204502107,
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]
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}
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},
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"grasp_39": {
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| 299 |
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"confidence": 0.9924321174621582,
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"position": [
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0.10277938097715378,
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],
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"orientation": {
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0.5035351491598036,
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]
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| 312 |
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}
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| 313 |
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}
|
| 314 |
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}
|
| 315 |
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},
|
| 316 |
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{
|
| 317 |
+
"part_name": "rear cap/body section",
|
| 318 |
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"mask_color": "Purple",
|
| 319 |
+
"graspable": true,
|
| 320 |
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"grasp_scenarios": [
|
| 321 |
+
{
|
| 322 |
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"scenario": "grasp the rear section to pick up and reorient the pen",
|
| 323 |
+
"confidence": 0.84
|
| 324 |
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},
|
| 325 |
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{
|
| 326 |
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"scenario": "hold the rear section while stabilizing the pen during inspection",
|
| 327 |
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"confidence": 0.8
|
| 328 |
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}
|
| 329 |
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],
|
| 330 |
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"functional_labels": [
|
| 331 |
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"form the rear body",
|
| 332 |
+
"support handling",
|
| 333 |
+
"house rear internal volume",
|
| 334 |
+
"mount the clip"
|
| 335 |
+
],
|
| 336 |
+
"semantic_description": "Shorter cylindrical rear section behind the center band, dark gray with engraved decorative texture, ending at the rounded top end and carrying the clip along one side.",
|
| 337 |
+
"id": 5,
|
| 338 |
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"grasp_group": {
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| 339 |
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"grasp_41": {
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| 340 |
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"confidence": 0.9918220639228821,
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| 341 |
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"position": [
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0.0969618409872055,
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],
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| 346 |
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]
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},
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],
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},
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],
|
| 801 |
+
"orientation": {
|
| 802 |
+
"w": 0.5801812618916531,
|
| 803 |
+
"xyz": [
|
| 804 |
+
0.4397418271369497,
|
| 805 |
+
0.5227347443187506,
|
| 806 |
+
0.44358225381328903
|
| 807 |
+
]
|
| 808 |
+
}
|
| 809 |
+
},
|
| 810 |
+
"grasp_19": {
|
| 811 |
+
"confidence": 0.36240214109420776,
|
| 812 |
+
"position": [
|
| 813 |
+
-0.16875359043478966,
|
| 814 |
+
-0.0015502157621085644,
|
| 815 |
+
-0.0020953702041879296
|
| 816 |
+
],
|
| 817 |
+
"orientation": {
|
| 818 |
+
"w": 0.5045452071665758,
|
| 819 |
+
"xyz": [
|
| 820 |
+
0.4879872533845423,
|
| 821 |
+
0.4978862240210389,
|
| 822 |
+
0.5093249281053496
|
| 823 |
+
]
|
| 824 |
+
}
|
| 825 |
+
}
|
| 826 |
+
}
|
| 827 |
+
},
|
| 828 |
+
{
|
| 829 |
+
"part_name": "top cap end",
|
| 830 |
+
"mask_color": "Yellow",
|
| 831 |
+
"graspable": false,
|
| 832 |
+
"grasp_scenarios": [],
|
| 833 |
+
"functional_labels": [
|
| 834 |
+
"close the top end",
|
| 835 |
+
"finish the pen body",
|
| 836 |
+
"protect the rear end"
|
| 837 |
+
],
|
| 838 |
+
"semantic_description": "Small rounded top end surface of the pen, dark gray and smooth, located at the very back of the rear section.",
|
| 839 |
+
"id": 3,
|
| 840 |
+
"grasp_group": {}
|
| 841 |
+
},
|
| 842 |
+
{
|
| 843 |
+
"part_name": "top nub",
|
| 844 |
+
"mask_color": "Magenta",
|
| 845 |
+
"graspable": false,
|
| 846 |
+
"grasp_scenarios": [],
|
| 847 |
+
"functional_labels": [
|
| 848 |
+
"form a tiny terminal detail",
|
| 849 |
+
"mark the center of the top end",
|
| 850 |
+
"finish the cap tip"
|
| 851 |
+
],
|
| 852 |
+
"semantic_description": "Tiny rounded protrusion at the exact center of the top end, dark gray and smooth, visible as a very small terminal nub.",
|
| 853 |
+
"id": 7,
|
| 854 |
+
"grasp_group": {}
|
| 855 |
+
}
|
| 856 |
+
],
|
| 857 |
+
"quality_check": {
|
| 858 |
+
"success": false,
|
| 859 |
+
"message": "Pen is uncapped fountain pen; several part names/functions and descriptions incorrectly describe a capped pen and hidden tip."
|
| 860 |
+
}
|
| 861 |
+
}
|
dataset/desktop_supplies/office_stationery/be398aed07b557248ca357fb3d22c146/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:479dfb0ee71fe43bb7a6e039ed932f63c9e77f9b4f4ffbe06c65489af2fbe413
|
| 3 |
+
size 631860
|