Add asset desktop_supplies/office_tools/fb621425267e540f88843f88587ac187
Browse files
.gitattributes
CHANGED
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@@ -6694,3 +6694,4 @@ dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/affordanc
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| 6694 |
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6695 |
dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6696 |
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6694 |
dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6695 |
dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6696 |
dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6697 |
+
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,298 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the magnifier",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the lens over an object for viewing",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
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"scenario": "stabilize the magnifier by the handle while placing it down",
|
| 18 |
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"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"provide a handhold",
|
| 23 |
+
"enable lifting and carrying",
|
| 24 |
+
"control lens orientation",
|
| 25 |
+
"keep fingers away from the lens"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A slim black plastic handle with a matte to satin finish and hard smooth texture, extending from the rim as a narrow cylindrical grip for holding the magnifier.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9673069715499878,
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| 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": 0.6681113677696189,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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-0.6536111575808542,
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| 42 |
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-0.25687199113238546
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_5": {
|
| 47 |
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"confidence": 0.9603142142295837,
|
| 48 |
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"position": [
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| 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": 0.27980006238852007,
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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_7": {
|
| 63 |
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"confidence": 0.9594299793243408,
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| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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],
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| 69 |
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"orientation": {
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| 70 |
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"w": 0.2589213440973404,
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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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},
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| 78 |
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"grasp_9": {
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| 79 |
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"confidence": 0.9578924179077148,
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| 80 |
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"position": [
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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"w": 0.22894809282858963,
|
| 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_14": {
|
| 95 |
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"confidence": 0.9536886215209961,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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-0.12347061466425657,
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.6765218263517085,
|
| 103 |
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"xyz": [
|
| 104 |
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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_15": {
|
| 111 |
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"confidence": 0.9535031318664551,
|
| 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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"w": 0.639751993571141,
|
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| 121 |
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| 122 |
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| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
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| 126 |
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"grasp_16": {
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| 127 |
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"confidence": 0.9532499313354492,
|
| 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": 0.3881391708966414,
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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_17": {
|
| 143 |
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"confidence": 0.9528968334197998,
|
| 144 |
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"position": [
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| 145 |
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| 146 |
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| 147 |
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|
| 148 |
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],
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| 149 |
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"orientation": {
|
| 150 |
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"w": 0.3611992368068018,
|
| 151 |
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"xyz": [
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| 152 |
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| 153 |
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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_18": {
|
| 159 |
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"confidence": 0.9523590207099915,
|
| 160 |
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"position": [
|
| 161 |
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-0.05231053297757171,
|
| 162 |
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-0.17433118354529142,
|
| 163 |
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0.0010726172768045217
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.6140515545241676,
|
| 167 |
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"xyz": [
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| 168 |
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-0.32144465807063366,
|
| 169 |
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0.6300344117030489,
|
| 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_19": {
|
| 175 |
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"confidence": 0.95184725522995,
|
| 176 |
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"position": [
|
| 177 |
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0.05050817961455323,
|
| 178 |
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-0.17290667723864317,
|
| 179 |
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-0.007627310551470146
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.36401263226349223,
|
| 183 |
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"xyz": [
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| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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}
|
| 190 |
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}
|
| 191 |
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},
|
| 192 |
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{
|
| 193 |
+
"part_name": "rim",
|
| 194 |
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"mask_color": "Yellow",
|
| 195 |
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"graspable": true,
|
| 196 |
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"grasp_scenarios": [
|
| 197 |
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{
|
| 198 |
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"scenario": "grasp the rim to reposition the magnifier when the handle is inaccessible",
|
| 199 |
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"confidence": 0.54
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
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"scenario": "hold the rim to stabilize the lens during inspection or cleaning",
|
| 203 |
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"confidence": 0.49
|
| 204 |
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}
|
| 205 |
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],
|
| 206 |
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"functional_labels": [
|
| 207 |
+
"hold the lens",
|
| 208 |
+
"protect the lens edge",
|
| 209 |
+
"connect lens to handle",
|
| 210 |
+
"provide structural support"
|
| 211 |
+
],
|
| 212 |
+
"semantic_description": "A black circular frame, likely plastic, with a matte smooth hard surface that surrounds the lens as a medium-width ring forming the main outer body.",
|
| 213 |
+
"id": 3,
|
| 214 |
+
"grasp_group": {
|
| 215 |
+
"grasp_25": {
|
| 216 |
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"confidence": 0.4217434823513031,
|
| 217 |
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"position": [
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| 218 |
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0.11379740099073388,
|
| 219 |
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0.008757151663303375,
|
| 220 |
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0.0006571360572706908
|
| 221 |
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],
|
| 222 |
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"orientation": {
|
| 223 |
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"w": 0.14609194204250012,
|
| 224 |
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"xyz": [
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| 225 |
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0.6950836643559699,
|
| 226 |
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0.14055131018626077,
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|
| 228 |
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]
|
| 229 |
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}
|
| 230 |
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},
|
| 231 |
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"grasp_26": {
|
| 232 |
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"confidence": 0.41786590218544006,
|
| 233 |
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"position": [
|
| 234 |
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-0.11389230479835533,
|
| 235 |
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0.020501730032265186,
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| 236 |
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|
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],
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"orientation": {
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"w": 0.6753618779334805,
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"xyz": [
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+
-0.171740294456605
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_37": {
|
| 248 |
+
"confidence": 0.058629948645830154,
|
| 249 |
+
"position": [
|
| 250 |
+
-0.0037484228087123483,
|
| 251 |
+
0.013424556702375412,
|
| 252 |
+
0.09394885334768333
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.028358311373652526,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.030219310380200645,
|
| 258 |
+
0.9972225018810401,
|
| 259 |
+
-0.06188603395193175
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
}
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"part_name": "lens",
|
| 267 |
+
"mask_color": "Blue",
|
| 268 |
+
"graspable": false,
|
| 269 |
+
"grasp_scenarios": [],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"magnify viewed objects",
|
| 272 |
+
"transmit light for viewing",
|
| 273 |
+
"provide the viewing surface"
|
| 274 |
+
],
|
| 275 |
+
"semantic_description": "A clear transparent glass lens with a glossy smooth hard surface, set centrally inside the frame as the large circular viewing area with faint reflective highlights.",
|
| 276 |
+
"id": 2,
|
| 277 |
+
"grasp_group": {}
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"part_name": "handle joint",
|
| 281 |
+
"mask_color": "Green",
|
| 282 |
+
"graspable": false,
|
| 283 |
+
"grasp_scenarios": [],
|
| 284 |
+
"functional_labels": [
|
| 285 |
+
"connect handle to rim",
|
| 286 |
+
"reinforce the handle attachment",
|
| 287 |
+
"transfer holding forces to the frame"
|
| 288 |
+
],
|
| 289 |
+
"semantic_description": "A small black connector piece with a smooth hard plastic appearance and slightly rounded shape, located where the handle meets the frame.",
|
| 290 |
+
"id": 1,
|
| 291 |
+
"grasp_group": {}
|
| 292 |
+
}
|
| 293 |
+
],
|
| 294 |
+
"quality_check": {
|
| 295 |
+
"success": true,
|
| 296 |
+
"message": "YES"
|
| 297 |
+
}
|
| 298 |
+
}
|
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:39e83f936ba66319a579b6d1510ab96259ddf177104add10cc73f3a0a8a3b57a
|
| 3 |
+
size 3784060
|