Add asset desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f
Browse files
.gitattributes
CHANGED
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@@ -6598,3 +6598,4 @@ dataset/desktop_supplies/office_tools/846bb3477c7c5352bad92296c3fc654f/affordanc
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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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| 6600 |
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/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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| 6600 |
dataset/desktop_supplies/office_tools/87085d7a1f5c50a7aba77a068f4603d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6601 |
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dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1019 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stack of sticky notes",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side of the note stack to pick up the pad",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the stack edges to reposition the pad on a desk",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the pad while peeling a note with another gripper",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide the main grasp surface",
|
| 23 |
+
"support the note pad structure",
|
| 24 |
+
"store stacked notes",
|
| 25 |
+
"present writable sheets"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thick oval stack of pale green paper sheets with matte smooth edges and slight layered texture, forming the sidewall around the pad.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_40": {
|
| 31 |
+
"confidence": 0.826690673828125,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.032437646528705955,
|
| 34 |
+
0.09617838315898553,
|
| 35 |
+
-0.03908050808331609
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.8142989750172658,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.551023407207795,
|
| 41 |
+
0.07430351401525292,
|
| 42 |
+
0.16664144682499665
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_41": {
|
| 47 |
+
"confidence": 0.8224596381187439,
|
| 48 |
+
"position": [
|
| 49 |
+
0.003704594448208809,
|
| 50 |
+
0.11294450663262978,
|
| 51 |
+
0.002254952180919645
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.7098505486935425,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.7042796076951937,
|
| 57 |
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0.0013468843836369482,
|
| 58 |
+
0.010030882644984973
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_42": {
|
| 63 |
+
"confidence": 0.8148869872093201,
|
| 64 |
+
"position": [
|
| 65 |
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0.002444769721478224,
|
| 66 |
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|
| 67 |
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-0.003276819160419109
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.7237303505500106,
|
| 71 |
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|
| 72 |
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|
| 73 |
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0.016755606990154992,
|
| 74 |
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0.03237673761188011
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
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"grasp_43": {
|
| 79 |
+
"confidence": 0.7992713451385498,
|
| 80 |
+
"position": [
|
| 81 |
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0.019487966084852815,
|
| 82 |
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-0.09441031463211402,
|
| 83 |
+
0.051840260594872234
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.04695209673778193,
|
| 87 |
+
"xyz": [
|
| 88 |
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0.08806916031912726,
|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
+
"grasp_44": {
|
| 95 |
+
"confidence": 0.7858614921569824,
|
| 96 |
+
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|
| 97 |
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-0.010137219680473208,
|
| 98 |
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-0.0957223991281353,
|
| 99 |
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0.044398158758667705
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
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|
| 103 |
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| 104 |
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|
| 105 |
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0.008938679039172337,
|
| 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_47": {
|
| 111 |
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"confidence": 0.777317464351654,
|
| 112 |
+
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|
| 113 |
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0.047907943138852715,
|
| 114 |
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-0.09402590192621574,
|
| 115 |
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0.04032579806425929
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5241525172687689,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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0.11348335551593887
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
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"grasp_50": {
|
| 127 |
+
"confidence": 0.7199035286903381,
|
| 128 |
+
"position": [
|
| 129 |
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-0.009982932126149535,
|
| 130 |
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-0.09951035625999793,
|
| 131 |
+
0.046786013960627315
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5173183353759594,
|
| 135 |
+
"xyz": [
|
| 136 |
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-0.8531810772127602,
|
| 137 |
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0.05060104956580613,
|
| 138 |
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-0.043627091958544494
|
| 139 |
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]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_51": {
|
| 143 |
+
"confidence": 0.7078335881233215,
|
| 144 |
+
"position": [
|
| 145 |
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-0.010845593875274062,
|
| 146 |
+
0.09683779679471627,
|
| 147 |
+
0.04620321464517474
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.040555268490126084,
|
| 151 |
+
"xyz": [
|
| 152 |
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-0.0716305265322044,
|
| 153 |
+
0.8519338413001266,
|
| 154 |
+
-0.5171393119015648
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_54": {
|
| 159 |
+
"confidence": 0.6875097751617432,
|
| 160 |
+
"position": [
|
| 161 |
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0.02266131923533976,
|
| 162 |
+
-0.09030370361870155,
|
| 163 |
+
0.048110648959664104
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.05199204310920027,
|
| 167 |
+
"xyz": [
|
| 168 |
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0.09688035135041657,
|
| 169 |
+
-0.8663443833293858,
|
| 170 |
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-0.48719445239983716
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
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},
|
| 174 |
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"grasp_56": {
|
| 175 |
+
"confidence": 0.596295177936554,
|
| 176 |
+
"position": [
|
| 177 |
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-0.028189571341499686,
|
| 178 |
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0.08377918653422967,
|
| 179 |
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0.049096289992121456
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
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"w": 0.08825839158661455,
|
| 183 |
+
"xyz": [
|
| 184 |
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-0.14474842439183078,
|
| 185 |
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0.8461970441461049,
|
| 186 |
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-0.5051820586966861
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_57": {
|
| 191 |
+
"confidence": 0.5381508469581604,
|
| 192 |
+
"position": [
|
| 193 |
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-0.0068791022058576345,
|
| 194 |
+
0.09691412799293175,
|
| 195 |
+
-0.03015418539962411
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.8105981158785169,
|
| 199 |
+
"xyz": [
|
| 200 |
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0.5809972571488735,
|
| 201 |
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-0.0035394838942389706,
|
| 202 |
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0.07321443691954585
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_59": {
|
| 207 |
+
"confidence": 0.8370158672332764,
|
| 208 |
+
"position": [
|
| 209 |
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-0.007022897945716977,
|
| 210 |
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-0.0539041044539772,
|
| 211 |
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0.07934656736233592
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
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"w": 0.29939137655015796,
|
| 215 |
+
"xyz": [
|
| 216 |
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|
| 217 |
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0.046635358077679157,
|
| 218 |
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-0.027685032533990118
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "top sticky note",
|
| 226 |
+
"mask_color": "Green",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "pinch a lifted edge of the top sheet to peel off a note",
|
| 231 |
+
"confidence": 0.88
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "lightly press or stabilize the top sheet while orienting the pad",
|
| 235 |
+
"confidence": 0.46
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"functional_labels": [
|
| 239 |
+
"provide a writable sheet",
|
| 240 |
+
"peel off for temporary notes",
|
| 241 |
+
"display printed branding",
|
| 242 |
+
"cover the stack"
|
| 243 |
+
],
|
| 244 |
+
"semantic_description": "Flat pale yellow oval paper sheet on the top face with a matte smooth surface and visible blue printed text plus an orange logo.",
|
| 245 |
+
"id": 1,
|
| 246 |
+
"grasp_group": {
|
| 247 |
+
"grasp_20": {
|
| 248 |
+
"confidence": 0.9877402186393738,
|
| 249 |
+
"position": [
|
| 250 |
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0.10896489233709872,
|
| 251 |
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0.0287708030664362,
|
| 252 |
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0.0004892565184491104
|
| 253 |
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],
|
| 254 |
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"orientation": {
|
| 255 |
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"w": 0.07464476476717642,
|
| 256 |
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0.7158955891156983,
|
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0.04983798345384627,
|
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| 260 |
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]
|
| 261 |
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}
|
| 262 |
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},
|
| 263 |
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"grasp_21": {
|
| 264 |
+
"confidence": 0.9872554540634155,
|
| 265 |
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"position": [
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0.10994688631035388,
|
| 267 |
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|
| 268 |
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0.014227136008230445
|
| 269 |
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],
|
| 270 |
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"orientation": {
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| 272 |
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|
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0.6646425309248056
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| 276 |
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]
|
| 277 |
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}
|
| 278 |
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},
|
| 279 |
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"grasp_22": {
|
| 280 |
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"confidence": 0.9871406555175781,
|
| 281 |
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"position": [
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0.10929948301054537,
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| 283 |
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|
| 284 |
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|
| 285 |
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],
|
| 286 |
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"orientation": {
|
| 287 |
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|
| 288 |
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0.025793087621148625,
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0.7059201783410632
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| 292 |
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]
|
| 293 |
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}
|
| 294 |
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},
|
| 295 |
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"grasp_23": {
|
| 296 |
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"confidence": 0.986616849899292,
|
| 297 |
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"position": [
|
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0.11018269718624651,
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| 299 |
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|
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| 301 |
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],
|
| 302 |
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"orientation": {
|
| 303 |
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"w": 0.7121474245795992,
|
| 304 |
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|
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|
| 307 |
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| 308 |
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]
|
| 309 |
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}
|
| 310 |
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},
|
| 311 |
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"grasp_24": {
|
| 312 |
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"confidence": 0.9866134524345398,
|
| 313 |
+
"position": [
|
| 314 |
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0.10747546167112887,
|
| 315 |
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0.0334098493331112,
|
| 316 |
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|
| 317 |
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],
|
| 318 |
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"orientation": {
|
| 319 |
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|
| 320 |
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0.6948033167507441,
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0.08442423351071693,
|
| 323 |
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| 324 |
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]
|
| 325 |
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}
|
| 326 |
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},
|
| 327 |
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{
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{
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],
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},
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],
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"orientation": {
|
| 976 |
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| 977 |
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| 978 |
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0.0299638900648565,
|
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0.6010359227580289
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}
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| 983 |
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}
|
| 984 |
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}
|
| 985 |
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},
|
| 986 |
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{
|
| 987 |
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"part_name": "printed logo mark",
|
| 988 |
+
"mask_color": "Purple",
|
| 989 |
+
"graspable": false,
|
| 990 |
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"grasp_scenarios": [],
|
| 991 |
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"functional_labels": [
|
| 992 |
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"brand the product",
|
| 993 |
+
"provide visual identification",
|
| 994 |
+
"indicate orientation"
|
| 995 |
+
],
|
| 996 |
+
"semantic_description": "Small printed orange oval logo element on the top sheet with a flat ink-like finish and smooth appearance, placed near the blue text.",
|
| 997 |
+
"id": 5,
|
| 998 |
+
"grasp_group": {}
|
| 999 |
+
},
|
| 1000 |
+
{
|
| 1001 |
+
"part_name": "printed product text",
|
| 1002 |
+
"mask_color": "Yellow",
|
| 1003 |
+
"graspable": false,
|
| 1004 |
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"grasp_scenarios": [],
|
| 1005 |
+
"functional_labels": [
|
| 1006 |
+
"label the product",
|
| 1007 |
+
"provide branding text",
|
| 1008 |
+
"indicate orientation on the top sheet"
|
| 1009 |
+
],
|
| 1010 |
+
"semantic_description": "Compact blue printed lettering on the top note with a flat ink finish and crisp edges, positioned near the orange logo on the upper surface.",
|
| 1011 |
+
"id": 3,
|
| 1012 |
+
"grasp_group": {}
|
| 1013 |
+
}
|
| 1014 |
+
],
|
| 1015 |
+
"quality_check": {
|
| 1016 |
+
"success": false,
|
| 1017 |
+
"message": "Bottom is not graspable; red part is a band/tab, not just pull tab; logo/text locations and descriptions partly mismatched."
|
| 1018 |
+
}
|
| 1019 |
+
}
|
dataset/desktop_supplies/office_tools/8779f25f1f3b55728523f897a2cb9d2f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:4e2985aeb02aefc53e01c1e555cc7b05fce7ba0f46f404b7c62269d5e341adc9
|
| 3 |
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size 3784144
|