Add asset desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58
Browse files
.gitattributes
CHANGED
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@@ -6357,4 +6357,4 @@ dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/affo
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| 6357 |
dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6358 |
dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6359 |
dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6360 |
-
dataset/desktop_supplies/office_stationery/
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| 6357 |
dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6358 |
dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6359 |
dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6360 |
+
dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up and move the marker",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to orient the marker during use or storage",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the marker by the barrel while removing or replacing the cap",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain ink reservoir",
|
| 24 |
+
"support writing orientation",
|
| 25 |
+
"connect capped front section and rear end"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical black plastic body with a mostly matte smooth hard surface, medium thickness, printed white branding, and occupying most of the marker length.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.9043921232223511,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.11462790742370998,
|
| 34 |
+
-4.751754386234097e-05,
|
| 35 |
+
0.007675019689486362
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.45620702422349985,
|
| 39 |
+
"xyz": [
|
| 40 |
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|
| 41 |
+
0.4705323013829048,
|
| 42 |
+
0.5204679313629142
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_5": {
|
| 47 |
+
"confidence": 0.8972046971321106,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.11506005599949276,
|
| 50 |
+
0.001463342323404504,
|
| 51 |
+
0.0027104140172014013
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5345665078135009,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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-0.45820296409001754
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_6": {
|
| 63 |
+
"confidence": 0.893360435962677,
|
| 64 |
+
"position": [
|
| 65 |
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-0.10173287466022884,
|
| 66 |
+
0.02237737002360518,
|
| 67 |
+
-0.04551407914550509
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.671576487836252,
|
| 71 |
+
"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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-0.5293269189915789
|
| 75 |
+
]
|
| 76 |
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}
|
| 77 |
+
},
|
| 78 |
+
"grasp_9": {
|
| 79 |
+
"confidence": 0.8915293216705322,
|
| 80 |
+
"position": [
|
| 81 |
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-0.11893600448820507,
|
| 82 |
+
-0.0012760590943798888,
|
| 83 |
+
0.002313635908649303
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.45361883082375676,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_10": {
|
| 95 |
+
"confidence": 0.8905559778213501,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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-0.003283878457295941,
|
| 99 |
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0.007873201408074237
|
| 100 |
+
],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5365255897247866,
|
| 103 |
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"xyz": [
|
| 104 |
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-0.4576846605588137,
|
| 105 |
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|
| 106 |
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|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_11": {
|
| 111 |
+
"confidence": 0.8898091316223145,
|
| 112 |
+
"position": [
|
| 113 |
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-0.09914385750744259,
|
| 114 |
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-0.03228769814086263,
|
| 115 |
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-0.042867234311415814
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.6873628006031237,
|
| 119 |
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"xyz": [
|
| 120 |
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0.14728228528351808,
|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_14": {
|
| 127 |
+
"confidence": 0.8832544088363647,
|
| 128 |
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"position": [
|
| 129 |
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-0.10095305219147122,
|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.6378249459364237,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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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_16": {
|
| 143 |
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"confidence": 0.8823260068893433,
|
| 144 |
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"position": [
|
| 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": 0.6579340312376903,
|
| 151 |
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"xyz": [
|
| 152 |
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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_17": {
|
| 159 |
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"confidence": 0.8822767734527588,
|
| 160 |
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"position": [
|
| 161 |
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-0.10387634709331905,
|
| 162 |
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|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.6363012599101863,
|
| 167 |
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"xyz": [
|
| 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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"grasp_18": {
|
| 175 |
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"confidence": 0.8813014626502991,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.5380568091181905,
|
| 183 |
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"xyz": [
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| 187 |
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]
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| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_19": {
|
| 191 |
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|
| 192 |
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| 193 |
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],
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"orientation": {
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]
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}
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| 205 |
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}
|
| 206 |
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}
|
| 207 |
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},
|
| 208 |
+
{
|
| 209 |
+
"part_name": "cap body",
|
| 210 |
+
"mask_color": "Green",
|
| 211 |
+
"graspable": true,
|
| 212 |
+
"grasp_scenarios": [
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the cap to pull it off the marker",
|
| 215 |
+
"confidence": 0.94
|
| 216 |
+
},
|
| 217 |
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{
|
| 218 |
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"scenario": "hold the cap while replacing it onto the writing end",
|
| 219 |
+
"confidence": 0.9
|
| 220 |
+
},
|
| 221 |
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{
|
| 222 |
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"scenario": "briefly pinch the cap to orient the marker end during manipulation",
|
| 223 |
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"confidence": 0.62
|
| 224 |
+
}
|
| 225 |
+
],
|
| 226 |
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"functional_labels": [
|
| 227 |
+
"cover and protect the writing tip",
|
| 228 |
+
"prevent ink from drying out",
|
| 229 |
+
"provide a removable closure for the writing end",
|
| 230 |
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"support capping and uncapping manipulation"
|
| 231 |
+
],
|
| 232 |
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"semantic_description": "Short black plastic cap section at the writing end, cylindrical and slightly wider than the exposed tip area would be, with a smooth matte finish and positioned between the barrel and the front end opening.",
|
| 233 |
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"id": 1,
|
| 234 |
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"grasp_group": {
|
| 235 |
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|
| 236 |
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"confidence": 0.8821120858192444,
|
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],
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|
| 250 |
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},
|
| 251 |
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|
| 252 |
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"confidence": 0.8605743646621704,
|
| 253 |
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],
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"orientation": {
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| 263 |
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|
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]
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}
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| 266 |
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},
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| 267 |
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"grasp_23": {
|
| 268 |
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|
| 269 |
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| 270 |
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| 271 |
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|
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|
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],
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| 274 |
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"orientation": {
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|
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]
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| 281 |
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}
|
| 282 |
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},
|
| 283 |
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"grasp_24": {
|
| 284 |
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"confidence": 0.8423680067062378,
|
| 285 |
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| 288 |
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|
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],
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| 290 |
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|
| 291 |
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| 292 |
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|
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| 295 |
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|
| 296 |
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]
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| 297 |
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}
|
| 298 |
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},
|
| 299 |
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"grasp_25": {
|
| 300 |
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"confidence": 0.8244413733482361,
|
| 301 |
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| 302 |
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0.12570129111554706,
|
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| 304 |
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| 305 |
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],
|
| 306 |
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"orientation": {
|
| 307 |
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| 308 |
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"xyz": [
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| 309 |
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| 311 |
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]
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| 313 |
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}
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| 314 |
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},
|
| 315 |
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"grasp_26": {
|
| 316 |
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"confidence": 0.8217880129814148,
|
| 317 |
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| 318 |
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|
| 319 |
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|
| 320 |
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0.00298005914373789
|
| 321 |
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],
|
| 322 |
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"orientation": {
|
| 323 |
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|
| 324 |
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|
| 326 |
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|
| 327 |
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0.6238095623390629
|
| 328 |
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]
|
| 329 |
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}
|
| 330 |
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},
|
| 331 |
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"grasp_30": {
|
| 332 |
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"confidence": 0.7689568400382996,
|
| 333 |
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"position": [
|
| 334 |
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0.131477487833763,
|
| 335 |
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0.0002979167147714179,
|
| 336 |
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0.0013876044104108587
|
| 337 |
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],
|
| 338 |
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"orientation": {
|
| 339 |
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"w": 0.4092474676450323,
|
| 340 |
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| 341 |
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0.5763544112189116,
|
| 342 |
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|
| 343 |
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|
| 344 |
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]
|
| 345 |
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}
|
| 346 |
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},
|
| 347 |
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"grasp_34": {
|
| 348 |
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"confidence": 0.7345282435417175,
|
| 349 |
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"position": [
|
| 350 |
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0.1192932330086478,
|
| 351 |
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0.049184233048436,
|
| 352 |
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-0.0006283049442572519
|
| 353 |
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],
|
| 354 |
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"orientation": {
|
| 355 |
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"w": 0.1730971072039924,
|
| 356 |
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"xyz": [
|
| 357 |
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0.6777465726921008,
|
| 358 |
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0.1944293948092477,
|
| 359 |
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-0.6876730219485346
|
| 360 |
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]
|
| 361 |
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}
|
| 362 |
+
},
|
| 363 |
+
"grasp_36": {
|
| 364 |
+
"confidence": 0.7085213661193848,
|
| 365 |
+
"position": [
|
| 366 |
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0.1301136292531737,
|
| 367 |
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-0.0004092358758498449,
|
| 368 |
+
-0.0013152229221304879
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.7190362647072275,
|
| 372 |
+
"xyz": [
|
| 373 |
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0.08862278333903226,
|
| 374 |
+
-0.6800488721786767,
|
| 375 |
+
-0.11254502991083824
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
}
|
| 380 |
+
},
|
| 381 |
+
{
|
| 382 |
+
"part_name": "back end plug",
|
| 383 |
+
"mask_color": "Blue",
|
| 384 |
+
"graspable": false,
|
| 385 |
+
"grasp_scenarios": [],
|
| 386 |
+
"functional_labels": [
|
| 387 |
+
"close the barrel end",
|
| 388 |
+
"retain internal components",
|
| 389 |
+
"finish the rear end"
|
| 390 |
+
],
|
| 391 |
+
"semantic_description": "Small circular black plastic end plug with a smooth hard surface at the rear of the marker, slightly recessed and much smaller than the barrel.",
|
| 392 |
+
"id": 2,
|
| 393 |
+
"grasp_group": {}
|
| 394 |
+
},
|
| 395 |
+
{
|
| 396 |
+
"part_name": "cap clip",
|
| 397 |
+
"mask_color": "Purple",
|
| 398 |
+
"graspable": false,
|
| 399 |
+
"grasp_scenarios": [],
|
| 400 |
+
"functional_labels": [
|
| 401 |
+
"clip to pocket",
|
| 402 |
+
"retain on notebook or fabric",
|
| 403 |
+
"provide orientation cue"
|
| 404 |
+
],
|
| 405 |
+
"semantic_description": "Small narrow black plastic clip integrated on the cap exterior, with a smooth hard finish and a thin protruding shape along the side near the capped writing end.",
|
| 406 |
+
"id": 5,
|
| 407 |
+
"grasp_group": {}
|
| 408 |
+
},
|
| 409 |
+
{
|
| 410 |
+
"part_name": "cap front edge",
|
| 411 |
+
"mask_color": "Orange",
|
| 412 |
+
"graspable": false,
|
| 413 |
+
"grasp_scenarios": [],
|
| 414 |
+
"functional_labels": [
|
| 415 |
+
"form cap opening boundary",
|
| 416 |
+
"help seat the cap on the marker tip end",
|
| 417 |
+
"protect the covered writing tip inside the cap"
|
| 418 |
+
],
|
| 419 |
+
"semantic_description": "Small black ring-like front edge at the very end of the cap, smooth and hard, visible as a narrow rim at the capped writing end.",
|
| 420 |
+
"id": 4,
|
| 421 |
+
"grasp_group": {}
|
| 422 |
+
}
|
| 423 |
+
],
|
| 424 |
+
"quality_check": {
|
| 425 |
+
"success": false,
|
| 426 |
+
"message": "Cap and rear-end parts are misidentified; graspability and descriptions don't match visible marker geometry."
|
| 427 |
+
}
|
| 428 |
+
}
|
dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:358fc5fd991f42ae37834bb3c3ed0941ce84fd197049d81adbd5e8aabcdb7562
|
| 3 |
+
size 3784192
|