Add asset desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0
Browse files
.gitattributes
CHANGED
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@@ -6558,4 +6558,4 @@ dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/affordanc
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| 6558 |
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6559 |
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6560 |
dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6561 |
-
dataset/desktop_supplies/office_tools/
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| 6558 |
dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6559 |
dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6560 |
dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6561 |
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dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,387 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle grip",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and carry the magnifier",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to position the lens over an object for inspection",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to reorient the magnifier in the workspace",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp point",
|
| 23 |
+
"hold and carry the magnifier",
|
| 24 |
+
"position the lens",
|
| 25 |
+
"provide user grip"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long black cylindrical handle grip made of matte plastic or rubber, with a smooth hard or slightly soft-touch surface, located behind the lens head and sized as the primary handhold.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
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"confidence": 0.8748225569725037,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.5475143225256631,
|
| 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_3": {
|
| 47 |
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"confidence": 0.8696956038475037,
|
| 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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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.574234489213943,
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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_4": {
|
| 63 |
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"confidence": 0.8678503036499023,
|
| 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": 0.41170287749375567,
|
| 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_6": {
|
| 79 |
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"confidence": 0.8666108250617981,
|
| 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": 0.5491882182634465,
|
| 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_10": {
|
| 95 |
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"confidence": 0.8645797371864319,
|
| 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": 0.4003648357355044,
|
| 103 |
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"xyz": [
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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_11": {
|
| 111 |
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"confidence": 0.8621358871459961,
|
| 112 |
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"position": [
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| 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": {
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| 118 |
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"w": 0.5468689519423395,
|
| 119 |
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"xyz": [
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| 120 |
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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_12": {
|
| 127 |
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"confidence": 0.86136394739151,
|
| 128 |
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"position": [
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| 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": 0.38476807230906884,
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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_14": {
|
| 143 |
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"confidence": 0.8609233498573303,
|
| 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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| 149 |
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"orientation": {
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| 150 |
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"w": 0.5455701892618591,
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| 151 |
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| 155 |
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]
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| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_15": {
|
| 159 |
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"confidence": 0.8605951070785522,
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| 160 |
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"position": [
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| 164 |
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],
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"orientation": {
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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_16": {
|
| 175 |
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"confidence": 0.8601257801055908,
|
| 176 |
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"position": [
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| 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": {
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| 182 |
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"w": 0.38927545517838835,
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"xyz": [
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| 187 |
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|
| 188 |
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|
| 189 |
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},
|
| 190 |
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"grasp_17": {
|
| 191 |
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"confidence": 0.8600711226463318,
|
| 192 |
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"position": [
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| 193 |
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"orientation": {
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| 198 |
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| 199 |
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"xyz": [
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| 200 |
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-0.4809204612076993,
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| 201 |
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0.49247767930018493,
|
| 202 |
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0.48918149352015855
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_19": {
|
| 207 |
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"confidence": 0.8585614562034607,
|
| 208 |
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| 209 |
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-0.03681576275812404,
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| 210 |
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| 211 |
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| 212 |
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],
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"orientation": {
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| 214 |
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| 215 |
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| 216 |
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| 218 |
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|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"part_name": "lens",
|
| 226 |
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"mask_color": "Blue",
|
| 227 |
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"graspable": false,
|
| 228 |
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"grasp_scenarios": [],
|
| 229 |
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"functional_labels": [
|
| 230 |
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"magnify viewed objects",
|
| 231 |
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"transmit light",
|
| 232 |
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"enable close inspection",
|
| 233 |
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"provide optical viewing surface"
|
| 234 |
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],
|
| 235 |
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"semantic_description": "Large circular pale clear glass lens with a smooth glossy hard surface, occupying most of the front head and appearing slightly translucent.",
|
| 236 |
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"id": 2,
|
| 237 |
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"grasp_group": {}
|
| 238 |
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},
|
| 239 |
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{
|
| 240 |
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"part_name": "lens frame",
|
| 241 |
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"mask_color": "Yellow",
|
| 242 |
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"graspable": true,
|
| 243 |
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"grasp_scenarios": [
|
| 244 |
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{
|
| 245 |
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"scenario": "grasp the outer rim to stabilize or reposition the magnifier when the handle is obstructed",
|
| 246 |
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"confidence": 0.48
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"scenario": "pinch the rim to lift the magnifier in a constrained space",
|
| 250 |
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"confidence": 0.41
|
| 251 |
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}
|
| 252 |
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],
|
| 253 |
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"functional_labels": [
|
| 254 |
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"hold the lens",
|
| 255 |
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"protect lens edge",
|
| 256 |
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"support the lens assembly",
|
| 257 |
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"provide perimeter structure"
|
| 258 |
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],
|
| 259 |
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"semantic_description": "Thin off-white or cream circular rim, likely painted metal or rigid plastic, with a smooth slightly glossy hard surface forming the narrow border around the lens.",
|
| 260 |
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"id": 3,
|
| 261 |
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"grasp_group": {
|
| 262 |
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"grasp_28": {
|
| 263 |
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"confidence": 0.8762212991714478,
|
| 264 |
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| 265 |
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|
| 266 |
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| 267 |
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|
| 268 |
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],
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| 269 |
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|
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|
| 271 |
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"xyz": [
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| 272 |
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| 273 |
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|
| 274 |
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|
| 275 |
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]
|
| 276 |
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}
|
| 277 |
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},
|
| 278 |
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"grasp_29": {
|
| 279 |
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"confidence": 0.9329966902732849,
|
| 280 |
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"position": [
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| 281 |
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|
| 282 |
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|
| 283 |
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-0.0008198099822038785
|
| 284 |
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],
|
| 285 |
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"orientation": {
|
| 286 |
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"w": 0.7085266325146493,
|
| 287 |
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"xyz": [
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| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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]
|
| 292 |
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}
|
| 293 |
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},
|
| 294 |
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"grasp_34": {
|
| 295 |
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"confidence": 0.9139880537986755,
|
| 296 |
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| 297 |
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|
| 298 |
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|
| 299 |
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-0.00396550506411586
|
| 300 |
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],
|
| 301 |
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"orientation": {
|
| 302 |
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|
| 303 |
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"xyz": [
|
| 304 |
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|
| 305 |
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|
| 306 |
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0.7160157109427973
|
| 307 |
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]
|
| 308 |
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}
|
| 309 |
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},
|
| 310 |
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"grasp_39": {
|
| 311 |
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|
| 312 |
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"position": [
|
| 313 |
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-0.09585482278453128,
|
| 314 |
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-0.049641112331300974,
|
| 315 |
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-0.0017501643305877224
|
| 316 |
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],
|
| 317 |
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"orientation": {
|
| 318 |
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|
| 319 |
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"xyz": [
|
| 320 |
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|
| 321 |
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0.696674269896853,
|
| 322 |
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0.13784212653256545
|
| 323 |
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]
|
| 324 |
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}
|
| 325 |
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},
|
| 326 |
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"grasp_40": {
|
| 327 |
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|
| 328 |
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"position": [
|
| 329 |
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|
| 330 |
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|
| 331 |
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-0.004399007317260839
|
| 332 |
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],
|
| 333 |
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"orientation": {
|
| 334 |
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"w": 0.7122470371352958,
|
| 335 |
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"xyz": [
|
| 336 |
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0.00429581128794343,
|
| 337 |
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0.7018977964611033,
|
| 338 |
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0.005018707046489198
|
| 339 |
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]
|
| 340 |
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}
|
| 341 |
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}
|
| 342 |
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}
|
| 343 |
+
},
|
| 344 |
+
{
|
| 345 |
+
"part_name": "neck connector",
|
| 346 |
+
"mask_color": "Orange",
|
| 347 |
+
"graspable": false,
|
| 348 |
+
"grasp_scenarios": [],
|
| 349 |
+
"functional_labels": [
|
| 350 |
+
"connect handle to frame",
|
| 351 |
+
"transmit manipulation force",
|
| 352 |
+
"set viewing angle",
|
| 353 |
+
"support head assembly"
|
| 354 |
+
],
|
| 355 |
+
"semantic_description": "Short off-white connector piece of metal or rigid plastic with a smooth hard finish, positioned between the handle and circular lens frame as a small joint-like link.",
|
| 356 |
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"id": 4,
|
| 357 |
+
"grasp_group": {}
|
| 358 |
+
},
|
| 359 |
+
{
|
| 360 |
+
"part_name": "hanging loop",
|
| 361 |
+
"mask_color": "Green",
|
| 362 |
+
"graspable": true,
|
| 363 |
+
"grasp_scenarios": [
|
| 364 |
+
{
|
| 365 |
+
"scenario": "hook or delicately pinch the loop to retrieve or hang the magnifier",
|
| 366 |
+
"confidence": 0.36
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"scenario": "use a small gripper to pull the magnifier from storage by the loop",
|
| 370 |
+
"confidence": 0.29
|
| 371 |
+
}
|
| 372 |
+
],
|
| 373 |
+
"functional_labels": [
|
| 374 |
+
"hang for storage",
|
| 375 |
+
"provide attachment point",
|
| 376 |
+
"indicate handle end"
|
| 377 |
+
],
|
| 378 |
+
"semantic_description": "Small metal ring at the end of the handle with a reflective smooth hard surface, forming a tiny circular loop used for hanging or attaching.",
|
| 379 |
+
"id": 1,
|
| 380 |
+
"grasp_group": {}
|
| 381 |
+
}
|
| 382 |
+
],
|
| 383 |
+
"quality_check": {
|
| 384 |
+
"success": true,
|
| 385 |
+
"message": "YES"
|
| 386 |
+
}
|
| 387 |
+
}
|
dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:182c2b9730554928decd038a04e5035c57b5fab96d40031477b41ff9c52cc7e7
|
| 3 |
+
size 3780316
|