Add asset desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/affordance_annot.json +399 -0
- dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.urdf +1 -0
.gitattributes
CHANGED
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@@ -6397,3 +6397,4 @@ dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affo
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| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6399 |
dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6397 |
dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6398 |
dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6399 |
dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6400 |
+
dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,399 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer sidewall to pick up and move the pen holder",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to reposition or rotate the pen holder on a desk",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the body while inserting or removing pens",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain pens and pencils",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"support side gripping",
|
| 25 |
+
"define the interior cavity"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered cylindrical brown wooden body with a matte to satin finish, smooth hard surface, visible wood grain, and an open top, forming the main container; one side has a dark printed logo marking.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
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"confidence": 0.9343216419219971,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.004920419337862911,
|
| 39 |
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"xyz": [
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| 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_1": {
|
| 47 |
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"confidence": 0.9342237710952759,
|
| 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": {
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| 54 |
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"w": 0.015746940375845345,
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| 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_2": {
|
| 63 |
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"confidence": 0.9275974631309509,
|
| 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": 0.02338072958390559,
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| 71 |
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"xyz": [
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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_3": {
|
| 79 |
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"confidence": 0.9266726970672607,
|
| 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": 0.05644985970461109,
|
| 87 |
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"xyz": [
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| 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 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9264816045761108,
|
| 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": 0.082579722398735,
|
| 103 |
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"xyz": [
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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_5": {
|
| 111 |
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"confidence": 0.9257319569587708,
|
| 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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],
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"orientation": {
|
| 118 |
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"w": 0.017483014266141732,
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| 119 |
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"xyz": [
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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_6": {
|
| 127 |
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"confidence": 0.9247170090675354,
|
| 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": {
|
| 134 |
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"w": 0.005679532718198954,
|
| 135 |
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"xyz": [
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| 136 |
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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_7": {
|
| 143 |
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"confidence": 0.9238392114639282,
|
| 144 |
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"position": [
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| 145 |
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| 147 |
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| 148 |
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],
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"orientation": {
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"w": 0.02452823066416189,
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"xyz": [
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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_8": {
|
| 159 |
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"confidence": 0.9236692190170288,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
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| 166 |
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"w": 0.02105072827199592,
|
| 167 |
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"xyz": [
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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_9": {
|
| 175 |
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"confidence": 0.9233784675598145,
|
| 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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],
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"orientation": {
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| 183 |
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| 187 |
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]
|
| 188 |
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| 354 |
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|
| 355 |
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|
| 356 |
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| 357 |
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|
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"scenario": "pinch or support the bottom ring while lifting the pen holder",
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},
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| 374 |
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| 375 |
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],
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"semantic_description": "Wide light beige wooden ring around the bottom with a matte finish, slightly textured surface, rounded edges, and a thicker circular profile that projects slightly beyond the body.",
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| 377 |
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| 378 |
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},
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{
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"part_name": "printed logo marking",
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| 384 |
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| 385 |
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| 386 |
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"brand identification",
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"visual marking",
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"decorate the exterior surface"
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],
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| 390 |
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"semantic_description": "Small dark brown to black printed logo and text on one side of the wooden body near the lower exterior, appearing as flat ink markings rather than a separate structural part.",
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| 391 |
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],
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| 395 |
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"quality_check": {
|
| 396 |
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"success": true,
|
| 397 |
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"message": "YES"
|
| 398 |
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}
|
| 399 |
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}
|
dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:38bbd3287496f361fe4917965ac0b074a6deafc38195ec65657612b5aeb180f2
|
| 3 |
+
size 3782424
|
dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|