Add asset desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/affordance_annot.json +253 -0
- dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.urdf +1 -0
.gitattributes
CHANGED
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@@ -6618,4 +6618,4 @@ dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordanc
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6619 |
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6621 |
-
dataset/desktop_supplies/office_tools/
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| 6618 |
dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6619 |
dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6620 |
dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6621 |
+
dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,253 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lens",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"magnify viewed objects",
|
| 10 |
+
"provide viewing surface",
|
| 11 |
+
"enable inspection",
|
| 12 |
+
"transmit light"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Large circular clear lens with a smooth glossy glass-like surface, set in the center of the magnifier head and appearing pale due to reflection.",
|
| 15 |
+
"id": 1,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "handle",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and hold the magnifier for use",
|
| 25 |
+
"confidence": 0.97
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "grasp the handle to reorient the magnifier over an object",
|
| 29 |
+
"confidence": 0.95
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to stabilize the magnifier during close inspection",
|
| 33 |
+
"confidence": 0.91
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide primary grip",
|
| 38 |
+
"lift the magnifier",
|
| 39 |
+
"control orientation",
|
| 40 |
+
"stabilize during viewing"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Long narrow black handle with orange accent inlays, likely plastic or rubberized plastic, with a mostly matte smooth hard surface and a slightly tapered ergonomic shape extending from the head.",
|
| 43 |
+
"id": 2,
|
| 44 |
+
"grasp_group": {
|
| 45 |
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"grasp_4": {
|
| 46 |
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"confidence": 0.9282708168029785,
|
| 47 |
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"position": [
|
| 48 |
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0.07795909798005596,
|
| 49 |
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-0.1338792135939002,
|
| 50 |
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-0.005448144627735019
|
| 51 |
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],
|
| 52 |
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"orientation": {
|
| 53 |
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"w": 0.23123544331292986,
|
| 54 |
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"xyz": [
|
| 55 |
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-0.6596072166069686,
|
| 56 |
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0.20813678680812653,
|
| 57 |
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0.6841984854799583
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"grasp_10": {
|
| 62 |
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"confidence": 0.9219437837600708,
|
| 63 |
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"position": [
|
| 64 |
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0.06886546319583431,
|
| 65 |
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-0.15213295724242926,
|
| 66 |
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-0.005701083457097411
|
| 67 |
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],
|
| 68 |
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"orientation": {
|
| 69 |
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"w": 0.28781446993999765,
|
| 70 |
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"xyz": [
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| 71 |
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-0.6380031372375035,
|
| 72 |
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0.26480202657770746,
|
| 73 |
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0.6633209739549928
|
| 74 |
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]
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"grasp_11": {
|
| 78 |
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"confidence": 0.9215570092201233,
|
| 79 |
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"position": [
|
| 80 |
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|
| 81 |
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-0.1519580027088523,
|
| 82 |
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|
| 83 |
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],
|
| 84 |
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"orientation": {
|
| 85 |
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"w": 0.2754054706077751,
|
| 86 |
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"xyz": [
|
| 87 |
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-0.6660068131495492,
|
| 88 |
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0.22427430439549867,
|
| 89 |
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0.65596325200853
|
| 90 |
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]
|
| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"grasp_17": {
|
| 94 |
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"confidence": 0.9140235185623169,
|
| 95 |
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"position": [
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| 96 |
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0.04554779833415523,
|
| 97 |
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| 98 |
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| 99 |
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],
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| 100 |
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"orientation": {
|
| 101 |
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"w": 0.381015796245836,
|
| 102 |
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"xyz": [
|
| 103 |
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-0.5955921253617567,
|
| 104 |
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0.3600771813360292,
|
| 105 |
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0.6086389789516592
|
| 106 |
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]
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"grasp_18": {
|
| 110 |
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"confidence": 0.9137433171272278,
|
| 111 |
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"position": [
|
| 112 |
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0.07969018822768703,
|
| 113 |
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| 114 |
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-0.009645465528592467
|
| 115 |
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],
|
| 116 |
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"orientation": {
|
| 117 |
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"w": 0.23138714400201163,
|
| 118 |
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"xyz": [
|
| 119 |
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|
| 120 |
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0.21234403380827693,
|
| 121 |
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0.7004316704913371
|
| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"grasp_19": {
|
| 126 |
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"confidence": 0.9136478900909424,
|
| 127 |
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"position": [
|
| 128 |
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0.061770908592734486,
|
| 129 |
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-0.1588893225416541,
|
| 130 |
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-0.006892764708027244
|
| 131 |
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],
|
| 132 |
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"orientation": {
|
| 133 |
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"w": 0.33245667087394404,
|
| 134 |
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"xyz": [
|
| 135 |
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-0.608979910944304,
|
| 136 |
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0.3034923237051982,
|
| 137 |
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0.6530761360742716
|
| 138 |
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]
|
| 139 |
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}
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"part_name": "frame",
|
| 145 |
+
"mask_color": "Orange",
|
| 146 |
+
"graspable": true,
|
| 147 |
+
"grasp_scenarios": [
|
| 148 |
+
{
|
| 149 |
+
"scenario": "grasp the frame rim to pick up the magnifier when the handle is inaccessible",
|
| 150 |
+
"confidence": 0.43
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"scenario": "grasp the frame edge to briefly reposition or steady the magnifier",
|
| 154 |
+
"confidence": 0.39
|
| 155 |
+
}
|
| 156 |
+
],
|
| 157 |
+
"functional_labels": [
|
| 158 |
+
"hold the lens",
|
| 159 |
+
"protect lens edge",
|
| 160 |
+
"connect lens to handle",
|
| 161 |
+
"provide structural support"
|
| 162 |
+
],
|
| 163 |
+
"semantic_description": "Circular black rim with orange outer edging, likely plastic, featuring a hard mostly matte smooth finish and forming the medium-sized housing around the lens at the head of the magnifier.",
|
| 164 |
+
"id": 4,
|
| 165 |
+
"grasp_group": {
|
| 166 |
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"grasp_20": {
|
| 167 |
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"confidence": 0.5613453388214111,
|
| 168 |
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"position": [
|
| 169 |
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-0.006489970663096756,
|
| 170 |
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0.006269440986216068,
|
| 171 |
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0.09820983768440783
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.028585786747975867,
|
| 175 |
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"xyz": [
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| 176 |
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0.9962102957103186,
|
| 177 |
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0.07966033913116106,
|
| 178 |
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0.020053176463274463
|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_24": {
|
| 183 |
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"confidence": 0.5315822958946228,
|
| 184 |
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"position": [
|
| 185 |
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-0.004610219213645905,
|
| 186 |
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-0.05572064872831106,
|
| 187 |
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0.08727357001043856
|
| 188 |
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],
|
| 189 |
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"orientation": {
|
| 190 |
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"w": 0.033926842234441104,
|
| 191 |
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"xyz": [
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| 192 |
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|
| 193 |
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0.9691615816993786,
|
| 194 |
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
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},
|
| 198 |
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"grasp_32": {
|
| 199 |
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"confidence": 0.4269534945487976,
|
| 200 |
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"position": [
|
| 201 |
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|
| 202 |
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| 203 |
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0.0967298245523125
|
| 204 |
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],
|
| 205 |
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"orientation": {
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"w": 0.04075716581520078,
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"xyz": [
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0.024368375597375015,
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| 211 |
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]
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| 212 |
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}
|
| 213 |
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},
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| 214 |
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"grasp_33": {
|
| 215 |
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"confidence": 0.42439404129981995,
|
| 216 |
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"position": [
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0.04713574517518282,
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| 219 |
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|
| 220 |
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],
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| 221 |
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"orientation": {
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| 222 |
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"w": 0.27038803429323616,
|
| 223 |
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"xyz": [
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0.9607833673735081,
|
| 225 |
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0.04893122333862521,
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| 226 |
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|
| 227 |
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]
|
| 228 |
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}
|
| 229 |
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},
|
| 230 |
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"grasp_38": {
|
| 231 |
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"confidence": 0.3761111795902252,
|
| 232 |
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"position": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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| 236 |
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],
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| 237 |
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"orientation": {
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"w": 0.9980972954641173,
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"xyz": [
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| 243 |
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| 244 |
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| 245 |
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}
|
| 246 |
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}
|
| 247 |
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}
|
| 248 |
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],
|
| 249 |
+
"quality_check": {
|
| 250 |
+
"success": true,
|
| 251 |
+
"message": "YES"
|
| 252 |
+
}
|
| 253 |
+
}
|
dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb251827394e66040b1232138f015b8a4bd1070df69b420079344fd09ce8ed5f
|
| 3 |
+
size 3781356
|
dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/magnifier_027.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>
|