Add asset desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/affordance_annot.json +390 -0
- dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/cutter_knife_025.urdf +1 -0
.gitattributes
CHANGED
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@@ -6596,3 +6596,4 @@ dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/affordanc
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| 6596 |
dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6597 |
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6598 |
dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6596 |
dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6597 |
dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6598 |
dataset/desktop_supplies/office_tools/84d34210849a54c085045b8ad5ff4c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6599 |
+
dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,390 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle body to pick up and hold the utility knife",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the handle to stabilize the knife while extending or retracting the blade",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "grasp the handle for controlled cutting manipulation",
|
| 18 |
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"confidence": 0.94
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house internal blade mechanism",
|
| 24 |
+
"support cutting control"
|
| 25 |
+
],
|
| 26 |
+
"semantic_description": "Long rounded rectangular light pink plastic handle with a smooth matte surface, forming most of the knife body.",
|
| 27 |
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"id": 2,
|
| 28 |
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"grasp_group": {
|
| 29 |
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"grasp_0": {
|
| 30 |
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"confidence": 0.886038064956665,
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| 31 |
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"position": [
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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],
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"orientation": {
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| 41 |
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| 42 |
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]
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| 43 |
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}
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| 44 |
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},
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| 45 |
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"grasp_2": {
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| 46 |
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"confidence": 0.8504785895347595,
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| 47 |
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"position": [
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| 51 |
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| 59 |
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}
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| 60 |
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},
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| 61 |
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"grasp_3": {
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| 62 |
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"confidence": 0.8398576974868774,
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| 63 |
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"position": [
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"grasp_5": {
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| 90 |
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| 93 |
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"grasp_6": {
|
| 94 |
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"confidence": 0.8343684077262878,
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"orientation": {
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"grasp_7": {
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| 125 |
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"grasp_8": {
|
| 126 |
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"confidence": 0.8288514018058777,
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},
|
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|
| 142 |
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"confidence": 0.8287293910980225,
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| 143 |
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"position": [
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"grasp_15": {
|
| 174 |
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"confidence": 0.8260599970817566,
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"position": [
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| 181 |
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|
| 189 |
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}
|
| 190 |
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},
|
| 191 |
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{
|
| 192 |
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"part_name": "knife blade",
|
| 193 |
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"mask_color": "Red",
|
| 194 |
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"graspable": false,
|
| 195 |
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"grasp_scenarios": [],
|
| 196 |
+
"functional_labels": [
|
| 197 |
+
"cut material",
|
| 198 |
+
"score surfaces",
|
| 199 |
+
"provide sharp working edge",
|
| 200 |
+
"extend from handle for slicing"
|
| 201 |
+
],
|
| 202 |
+
"semantic_description": "Small exposed silver metal utility blade with a flat reflective surface and angled tip protruding from one end of the handle.",
|
| 203 |
+
"id": 0,
|
| 204 |
+
"grasp_group": {}
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"part_name": "slider button",
|
| 208 |
+
"mask_color": "Yellow",
|
| 209 |
+
"graspable": false,
|
| 210 |
+
"grasp_scenarios": [],
|
| 211 |
+
"functional_labels": [
|
| 212 |
+
"extend blade",
|
| 213 |
+
"retract blade",
|
| 214 |
+
"control blade exposure"
|
| 215 |
+
],
|
| 216 |
+
"semantic_description": "Small round pale yellow button with a smooth finish, slightly raised on the top centerline of the handle for thumb actuation.",
|
| 217 |
+
"id": 3,
|
| 218 |
+
"grasp_group": {}
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"part_name": "blade track slot",
|
| 222 |
+
"mask_color": "Teal",
|
| 223 |
+
"graspable": false,
|
| 224 |
+
"grasp_scenarios": [],
|
| 225 |
+
"functional_labels": [
|
| 226 |
+
"guide slider motion",
|
| 227 |
+
"indicate blade travel path",
|
| 228 |
+
"house sliding mechanism"
|
| 229 |
+
],
|
| 230 |
+
"semantic_description": "Narrow recessed slot running along the top of the handle, visible as a thin channel inside the pink handle.",
|
| 231 |
+
"id": 10,
|
| 232 |
+
"grasp_group": {}
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"part_name": "cat-shaped end cap",
|
| 236 |
+
"mask_color": "Orange",
|
| 237 |
+
"graspable": true,
|
| 238 |
+
"grasp_scenarios": [
|
| 239 |
+
{
|
| 240 |
+
"scenario": "grasp the rear cat-shaped end to help pull the knife from a tight space",
|
| 241 |
+
"confidence": 0.39
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"scenario": "lightly hold the rear end while repositioning the knife",
|
| 245 |
+
"confidence": 0.31
|
| 246 |
+
}
|
| 247 |
+
],
|
| 248 |
+
"functional_labels": [
|
| 249 |
+
"close rear of handle",
|
| 250 |
+
"provide rear stop",
|
| 251 |
+
"add visual decoration",
|
| 252 |
+
"aid orientation recognition"
|
| 253 |
+
],
|
| 254 |
+
"semantic_description": "Cream or off-white cat-head-shaped rear cap with pink ear/bow details and simple face markings on a smooth hard plastic surface at the back end of the handle.",
|
| 255 |
+
"id": 4,
|
| 256 |
+
"grasp_group": {
|
| 257 |
+
"grasp_25": {
|
| 258 |
+
"confidence": 0.8905723094940186,
|
| 259 |
+
"position": [
|
| 260 |
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0.09847554564476013,
|
| 261 |
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-0.0321020414121449,
|
| 262 |
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-0.00010849149839486927
|
| 263 |
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],
|
| 264 |
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"orientation": {
|
| 265 |
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"w": 0.7096309421899701,
|
| 266 |
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"xyz": [
|
| 267 |
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-0.041642275160640514,
|
| 268 |
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-0.7026553414932319,
|
| 269 |
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-0.03106956512491113
|
| 270 |
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]
|
| 271 |
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}
|
| 272 |
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},
|
| 273 |
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"grasp_28": {
|
| 274 |
+
"confidence": 0.8808568120002747,
|
| 275 |
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"position": [
|
| 276 |
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-0.09711237251758575,
|
| 277 |
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-0.017721372190862894,
|
| 278 |
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-0.007109401805792004
|
| 279 |
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],
|
| 280 |
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"orientation": {
|
| 281 |
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"w": 0.71739291095251,
|
| 282 |
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"xyz": [
|
| 283 |
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-0.004887531255671725,
|
| 284 |
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0.6962875270941503,
|
| 285 |
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-0.02252116707504915
|
| 286 |
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]
|
| 287 |
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}
|
| 288 |
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},
|
| 289 |
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"grasp_30": {
|
| 290 |
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"confidence": 0.8694598078727722,
|
| 291 |
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"position": [
|
| 292 |
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-0.08575376123189926,
|
| 293 |
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-0.07325899275019765,
|
| 294 |
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-0.0021606807713396847
|
| 295 |
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],
|
| 296 |
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"orientation": {
|
| 297 |
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"w": 0.6887336861729959,
|
| 298 |
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"xyz": [
|
| 299 |
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-0.19518092955601096,
|
| 300 |
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0.6747881728578915,
|
| 301 |
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0.1794748897180795
|
| 302 |
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]
|
| 303 |
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}
|
| 304 |
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},
|
| 305 |
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"grasp_33": {
|
| 306 |
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"confidence": 0.8525320291519165,
|
| 307 |
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"position": [
|
| 308 |
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-0.08702588826417923,
|
| 309 |
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-0.0675581288523972,
|
| 310 |
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0.013037717842962593
|
| 311 |
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],
|
| 312 |
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"orientation": {
|
| 313 |
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"w": 0.17009837189008667,
|
| 314 |
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"xyz": [
|
| 315 |
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-0.7309945556902557,
|
| 316 |
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-0.17075857810601036,
|
| 317 |
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-0.6384003535672275
|
| 318 |
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]
|
| 319 |
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}
|
| 320 |
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},
|
| 321 |
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"grasp_34": {
|
| 322 |
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"confidence": 0.8492751121520996,
|
| 323 |
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"position": [
|
| 324 |
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0.08697841316461563,
|
| 325 |
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-0.07335802586749196,
|
| 326 |
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-0.004455443995539099
|
| 327 |
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],
|
| 328 |
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"orientation": {
|
| 329 |
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"w": 0.17439823566147264,
|
| 330 |
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"xyz": [
|
| 331 |
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-0.6750722753203185,
|
| 332 |
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0.20878807230997598,
|
| 333 |
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0.6857625094397461
|
| 334 |
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]
|
| 335 |
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}
|
| 336 |
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},
|
| 337 |
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"grasp_35": {
|
| 338 |
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"confidence": 0.8431558609008789,
|
| 339 |
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"position": [
|
| 340 |
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-0.08792421966791153,
|
| 341 |
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-0.06908380659297109,
|
| 342 |
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0.012113640957977623
|
| 343 |
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],
|
| 344 |
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"orientation": {
|
| 345 |
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"w": 0.6460134494445623,
|
| 346 |
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"xyz": [
|
| 347 |
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-0.1844668825482835,
|
| 348 |
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0.7235062829387302,
|
| 349 |
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0.15867340964332305
|
| 350 |
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]
|
| 351 |
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}
|
| 352 |
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},
|
| 353 |
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"grasp_39": {
|
| 354 |
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"confidence": 0.8213976621627808,
|
| 355 |
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"position": [
|
| 356 |
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-0.1003134548664093,
|
| 357 |
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-0.023111012298613787,
|
| 358 |
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-0.002220118243712932
|
| 359 |
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],
|
| 360 |
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"orientation": {
|
| 361 |
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"w": 0.7234813369869103,
|
| 362 |
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"xyz": [
|
| 363 |
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-0.05202855329968342,
|
| 364 |
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0.687362719758138,
|
| 365 |
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-0.037420264027261396
|
| 366 |
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]
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
}
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"part_name": "rear collar ring",
|
| 373 |
+
"mask_color": "Lime Green",
|
| 374 |
+
"graspable": false,
|
| 375 |
+
"grasp_scenarios": [],
|
| 376 |
+
"functional_labels": [
|
| 377 |
+
"join end cap to handle",
|
| 378 |
+
"cover seam",
|
| 379 |
+
"provide transition between parts"
|
| 380 |
+
],
|
| 381 |
+
"semantic_description": "Thin pale yellow ring at the junction between the pink handle and the cat-shaped rear cap, appearing as a small smooth plastic collar.",
|
| 382 |
+
"id": 9,
|
| 383 |
+
"grasp_group": {}
|
| 384 |
+
}
|
| 385 |
+
],
|
| 386 |
+
"quality_check": {
|
| 387 |
+
"success": false,
|
| 388 |
+
"message": "Several semantic descriptions use wrong colors/shapes; slider is not round, handle/collar colors mismatched."
|
| 389 |
+
}
|
| 390 |
+
}
|
dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8be80fba40ef78dddf2ab971f55854b6399372999d60e41e3c1a83f69a6f442d
|
| 3 |
+
size 3787832
|
dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/cutter_knife_025.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>
|