Add asset desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb
Browse files
.gitattributes
CHANGED
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@@ -6425,3 +6425,4 @@ dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/affo
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| 6425 |
dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6426 |
dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6427 |
dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6425 |
dataset/desktop_supplies/office_stationery/960b345e73835a318c15f7015bdd72e5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6426 |
dataset/desktop_supplies/office_stationery/9647eb53f2ff5028b3659cf5ca59542a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6427 |
dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6428 |
+
dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,408 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the upper rim to pick up and reposition the pen holder",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to stabilize the pen holder while inserting or removing pens",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the opening",
|
| 19 |
+
"guide item insertion",
|
| 20 |
+
"provide an upper gripping edge",
|
| 21 |
+
"stiffen the top"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thick purple plastic rim with a smooth slightly glossy hard surface, circular and medium-sized at the top opening, with a small notch visible on one side.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9210841655731201,
|
| 28 |
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"position": [
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| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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],
|
| 33 |
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"orientation": {
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| 34 |
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"w": 0.10738153320221112,
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| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.9184179306030273,
|
| 44 |
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"position": [
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
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| 50 |
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"w": 0.1690744091906045,
|
| 51 |
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"xyz": [
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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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"grasp_2": {
|
| 59 |
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"confidence": 0.9145306944847107,
|
| 60 |
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"position": [
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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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"orientation": {
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| 66 |
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"w": 0.1494143663434096,
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| 67 |
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"xyz": [
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| 69 |
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_3": {
|
| 75 |
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"confidence": 0.9142566919326782,
|
| 76 |
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"position": [
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| 77 |
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|
| 78 |
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| 79 |
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| 80 |
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],
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| 81 |
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"orientation": {
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"w": 0.3530431201517109,
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| 83 |
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"xyz": [
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_4": {
|
| 91 |
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"confidence": 0.914183497428894,
|
| 92 |
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"position": [
|
| 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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"orientation": {
|
| 98 |
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"w": 0.10830094816751565,
|
| 99 |
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"xyz": [
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| 102 |
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| 103 |
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]
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| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_5": {
|
| 107 |
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"confidence": 0.9136043190956116,
|
| 108 |
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"position": [
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],
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"orientation": {
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"xyz": [
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| 119 |
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]
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| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_6": {
|
| 123 |
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"confidence": 0.9120364189147949,
|
| 124 |
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"position": [
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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],
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| 129 |
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"orientation": {
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|
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| 135 |
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]
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| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_7": {
|
| 139 |
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"confidence": 0.91074538230896,
|
| 140 |
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"position": [
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| 141 |
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}
|
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},
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| 154 |
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"grasp_8": {
|
| 155 |
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"confidence": 0.9106364250183105,
|
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"position": [
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"orientation": {
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]
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| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_10": {
|
| 171 |
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"confidence": 0.9093425869941711,
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| 172 |
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"position": [
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"grasp_11": {
|
| 187 |
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"confidence": 0.9091281294822693,
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"position": [
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}
|
| 298 |
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}
|
| 299 |
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},
|
| 300 |
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{
|
| 301 |
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"part_name": "upper body",
|
| 302 |
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"mask_color": "Green",
|
| 303 |
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"graspable": true,
|
| 304 |
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"grasp_scenarios": [
|
| 305 |
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{
|
| 306 |
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"scenario": "grasp the smooth upper sidewall to lift the pen holder",
|
| 307 |
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"confidence": 0.91
|
| 308 |
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},
|
| 309 |
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{
|
| 310 |
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"scenario": "hold the sidewall to rotate and orient the pen holder on a desk",
|
| 311 |
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"confidence": 0.84
|
| 312 |
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}
|
| 313 |
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],
|
| 314 |
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"functional_labels": [
|
| 315 |
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"form the main container wall",
|
| 316 |
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"support stored pens",
|
| 317 |
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"provide side grip surface",
|
| 318 |
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"enclose the upper cavity"
|
| 319 |
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],
|
| 320 |
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"semantic_description": "Light gray plastic cylindrical sidewall with a matte to satin hard smooth finish, medium height in the upper-middle section, showing small white printed logo text on one side.",
|
| 321 |
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"id": 1,
|
| 322 |
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"grasp_group": {}
|
| 323 |
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},
|
| 324 |
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{
|
| 325 |
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"part_name": "lattice lower body",
|
| 326 |
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"mask_color": "Blue",
|
| 327 |
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"graspable": true,
|
| 328 |
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"grasp_scenarios": [
|
| 329 |
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{
|
| 330 |
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"scenario": "grasp the lower body around the open lattice to lift the pen holder",
|
| 331 |
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"confidence": 0.63
|
| 332 |
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},
|
| 333 |
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{
|
| 334 |
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"scenario": "pinch through the lattice section to steady the holder during placement",
|
| 335 |
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"confidence": 0.49
|
| 336 |
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}
|
| 337 |
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],
|
| 338 |
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"functional_labels": [
|
| 339 |
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"reduce weight",
|
| 340 |
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"provide ventilation",
|
| 341 |
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"support the container above the base",
|
| 342 |
+
"add decorative structure"
|
| 343 |
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],
|
| 344 |
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"semantic_description": "Gray plastic lower cylinder with a hard smooth finish and multiple rounded diamond-shaped cutouts, wrapping around the lower side and revealing the purple inner surface behind it.",
|
| 345 |
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"id": 2,
|
| 346 |
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"grasp_group": {}
|
| 347 |
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},
|
| 348 |
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{
|
| 349 |
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"part_name": "base ring",
|
| 350 |
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"mask_color": "Yellow",
|
| 351 |
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"graspable": true,
|
| 352 |
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"grasp_scenarios": [
|
| 353 |
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{
|
| 354 |
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"scenario": "grasp the broad base edge to pick up the pen holder from below",
|
| 355 |
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"confidence": 0.71
|
| 356 |
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},
|
| 357 |
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{
|
| 358 |
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"scenario": "hold the base to stabilize the holder while clearing contents",
|
| 359 |
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"confidence": 0.66
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"functional_labels": [
|
| 363 |
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"support on a flat surface",
|
| 364 |
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"improve stability",
|
| 365 |
+
"spread contact area",
|
| 366 |
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"protect the bottom edge"
|
| 367 |
+
],
|
| 368 |
+
"semantic_description": "Dark gray plastic circular base ring with a smooth hard surface and slightly flared profile, widest at the bottom and forming the stable contact area with the desk.",
|
| 369 |
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"id": 3,
|
| 370 |
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"grasp_group": {
|
| 371 |
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| 372 |
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|
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|
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],
|
| 378 |
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|
| 379 |
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|
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| 381 |
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| 384 |
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]
|
| 385 |
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}
|
| 386 |
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}
|
| 387 |
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}
|
| 388 |
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},
|
| 389 |
+
{
|
| 390 |
+
"part_name": "bottom insert",
|
| 391 |
+
"mask_color": "Orange",
|
| 392 |
+
"graspable": false,
|
| 393 |
+
"grasp_scenarios": [],
|
| 394 |
+
"functional_labels": [
|
| 395 |
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"close the bottom center",
|
| 396 |
+
"support stored items from below",
|
| 397 |
+
"provide interior floor surface"
|
| 398 |
+
],
|
| 399 |
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"semantic_description": "Purple plastic circular bottom insert with a smooth slightly glossy hard surface, recessed at the center underside and smaller than the outer base ring.",
|
| 400 |
+
"id": 4,
|
| 401 |
+
"grasp_group": {}
|
| 402 |
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}
|
| 403 |
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],
|
| 404 |
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"quality_check": {
|
| 405 |
+
"success": true,
|
| 406 |
+
"message": "YES"
|
| 407 |
+
}
|
| 408 |
+
}
|
dataset/desktop_supplies/office_stationery/97965ec0e7bc5541b10df8b5ab201afb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:348f8dc14e1b118d6d4768a1ad0ca0d283d5c58f363c931b7e9483f2bed8663c
|
| 3 |
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size 3785360
|