Add asset desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/affordance_annot.json +438 -0
- dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.urdf +1 -0
.gitattributes
CHANGED
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@@ -6392,4 +6392,4 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/affo
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| 6392 |
dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6393 |
dataset/desktop_supplies/office_stationery/8353c5dfb7ce575593c108dce00bbf8a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6394 |
dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6395 |
-
dataset/desktop_supplies/office_stationery/
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| 6392 |
dataset/desktop_supplies/office_stationery/81bed718b05a55fb926950ed347e2e2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6393 |
dataset/desktop_supplies/office_stationery/8353c5dfb7ce575593c108dce00bbf8a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6394 |
dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6395 |
+
dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,438 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting or removing a pencil",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to carry or place it on a desk",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main housing",
|
| 23 |
+
"support internal mechanism",
|
| 24 |
+
"provide main grasp surface",
|
| 25 |
+
"stabilize on a desk"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded off-white plastic housing with a smooth matte finish, forming the compact tabletop body with a tapered rectangular shape and small round feet underneath.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.905376672744751,
|
| 32 |
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"position": [
|
| 33 |
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-0.049259063685894944,
|
| 34 |
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0.008210555417463183,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.1823912887727649,
|
| 39 |
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"xyz": [
|
| 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 |
+
"confidence": 0.889641523361206,
|
| 48 |
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"position": [
|
| 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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"orientation": {
|
| 54 |
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"w": 0.17615996621442093,
|
| 55 |
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"xyz": [
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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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"grasp_3": {
|
| 63 |
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"confidence": 0.8861793279647827,
|
| 64 |
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"position": [
|
| 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": {
|
| 70 |
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"w": 0.24239241722591107,
|
| 71 |
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"xyz": [
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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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": 0.8823879361152649,
|
| 80 |
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"position": [
|
| 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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"orientation": {
|
| 86 |
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"w": 0.1644454401614958,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.881797194480896,
|
| 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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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.17026518898621454,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_6": {
|
| 111 |
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"confidence": 0.8787047266960144,
|
| 112 |
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"position": [
|
| 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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"orientation": {
|
| 118 |
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"w": 0.1805817168702068,
|
| 119 |
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"xyz": [
|
| 120 |
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| 121 |
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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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"grasp_7": {
|
| 127 |
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"confidence": 0.8778128027915955,
|
| 128 |
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"position": [
|
| 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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"orientation": {
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| 134 |
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"w": 0.18974114533740255,
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| 135 |
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"xyz": [
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| 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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"grasp_8": {
|
| 143 |
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"confidence": 0.8774816393852234,
|
| 144 |
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"position": [
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| 145 |
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| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.19928676965353495,
|
| 151 |
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"xyz": [
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| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_9": {
|
| 159 |
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"confidence": 0.876356303691864,
|
| 160 |
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"position": [
|
| 161 |
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0.1080240785231581,
|
| 162 |
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0.002299533225595951,
|
| 163 |
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|
| 164 |
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],
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| 165 |
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"orientation": {
|
| 166 |
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"w": 0.4814255213596482,
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| 167 |
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"xyz": [
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| 170 |
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},
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| 352 |
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{
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| 353 |
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| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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"functional_labels": [
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| 358 |
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| 359 |
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"shield internal cutter area",
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| 360 |
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"front transparent panel"
|
| 361 |
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],
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| 362 |
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"semantic_description": "Large slightly tinted transparent front window framed by coral-pink trim, glossy and rounded rectangular, showing the internal blade assembly behind it.",
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| 363 |
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| 364 |
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| 365 |
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},
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{
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"part_name": "blade assembly",
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"mask_color": "Brown",
|
| 369 |
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|
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|
| 371 |
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| 372 |
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"cut pencil wood",
|
| 373 |
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"sharpen pencil core",
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| 374 |
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"remove material",
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| 375 |
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"form pencil tip"
|
| 376 |
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],
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| 377 |
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"semantic_description": "Small silver-gray metal cutting assembly visible behind the front window, with reflective hard surfaces and an angular sharpened form positioned centrally inside the sharpener.",
|
| 378 |
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"id": 11,
|
| 379 |
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|
| 380 |
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},
|
| 381 |
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{
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| 382 |
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"part_name": "front slider or bar",
|
| 383 |
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"mask_color": "Purple",
|
| 384 |
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"graspable": true,
|
| 385 |
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"grasp_scenarios": [
|
| 386 |
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{
|
| 387 |
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"scenario": "press or slide the front bar to actuate a mechanism",
|
| 388 |
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"confidence": 0.67
|
| 389 |
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},
|
| 390 |
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{
|
| 391 |
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"scenario": "pinch the protruding bar lightly for adjustment or release",
|
| 392 |
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"confidence": 0.46
|
| 393 |
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}
|
| 394 |
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],
|
| 395 |
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"functional_labels": [
|
| 396 |
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"manual control",
|
| 397 |
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"press input",
|
| 398 |
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"slide input",
|
| 399 |
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"user interaction point"
|
| 400 |
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],
|
| 401 |
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"semantic_description": "Small coral-pink elongated rounded bar on the lower front face, smooth and slightly protruding for finger or gripper contact.",
|
| 402 |
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"id": 5,
|
| 403 |
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|
| 404 |
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},
|
| 405 |
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{
|
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"part_name": "left side foot",
|
| 407 |
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"mask_color": "Green",
|
| 408 |
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"graspable": false,
|
| 409 |
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"grasp_scenarios": [],
|
| 410 |
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"functional_labels": [
|
| 411 |
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"support foot",
|
| 412 |
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"stabilizer",
|
| 413 |
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"contact point with desk"
|
| 414 |
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],
|
| 415 |
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"semantic_description": "Small round off-white cylindrical foot protruding near the lower front-left underside of the body, with a smooth matte plastic surface.",
|
| 416 |
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"id": 1,
|
| 417 |
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"grasp_group": {}
|
| 418 |
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},
|
| 419 |
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{
|
| 420 |
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"part_name": "right side foot",
|
| 421 |
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"mask_color": "Blue",
|
| 422 |
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"graspable": false,
|
| 423 |
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"grasp_scenarios": [],
|
| 424 |
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"functional_labels": [
|
| 425 |
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"support foot",
|
| 426 |
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"stabilizer",
|
| 427 |
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"contact point with desk"
|
| 428 |
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],
|
| 429 |
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"semantic_description": "Small round off-white cylindrical foot protruding near the lower front-right underside of the body, with a smooth matte plastic surface.",
|
| 430 |
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"id": 2,
|
| 431 |
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"grasp_group": {}
|
| 432 |
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}
|
| 433 |
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],
|
| 434 |
+
"quality_check": {
|
| 435 |
+
"success": false,
|
| 436 |
+
"message": "Feet colors/identities mismatch; green and blue parts are front buttons, not feet."
|
| 437 |
+
}
|
| 438 |
+
}
|
dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2a46292283026ff2e93a4d015f521effeec40cea32c43547dfedf3cd7cf0933
|
| 3 |
+
size 3791420
|
dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>NO: {"summary":"Front functional parts are mislabeled and merged inconsistently; only body is coherent.","merge_groups":[]}</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>NO: {"summary":"Front functional parts are mislabeled and merged inconsistently; only body is coherent.","merge_groups":[]}</PartSegChecker>
|