Add asset desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74
Browse files
.gitattributes
CHANGED
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@@ -6083,3 +6083,4 @@ dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/affordance/mes
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| 6083 |
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6083 |
dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6084 |
dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6085 |
dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6086 |
+
dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stand body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the central body to pick up and reposition the phone mount",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the mount while attaching or removing a phone",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main structural support",
|
| 19 |
+
"connect magnetic head to base",
|
| 20 |
+
"provide a grasping area",
|
| 21 |
+
"set mounting angle"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Medium-sized blue plastic body with a smooth matte-to-satin hard surface, shaped as a slightly curved tapered column rising from the base to the angled top head.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9760642051696777,
|
| 28 |
+
"position": [
|
| 29 |
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|
| 30 |
+
0.10506233701016754,
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.7502047616305573,
|
| 35 |
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"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
+
"confidence": 0.9750739336013794,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.734820371364017,
|
| 51 |
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"xyz": [
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_3": {
|
| 59 |
+
"confidence": 0.9728743433952332,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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0.11028947064187378,
|
| 63 |
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0.012291164137423038
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.06639107151174697,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_4": {
|
| 75 |
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"confidence": 0.9710869193077087,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.07116051554566188,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
+
]
|
| 88 |
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}
|
| 89 |
+
},
|
| 90 |
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"grasp_5": {
|
| 91 |
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"confidence": 0.9708529114723206,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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0.10694061347749084,
|
| 95 |
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|
| 96 |
+
],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.7734845262438428,
|
| 99 |
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"xyz": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_7": {
|
| 107 |
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"confidence": 0.967195987701416,
|
| 108 |
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"position": [
|
| 109 |
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0.003452302815276198,
|
| 110 |
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0.10951191314961761,
|
| 111 |
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0.009931230684742332
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.7451217963242257,
|
| 115 |
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"xyz": [
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_8": {
|
| 123 |
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"confidence": 0.9660805463790894,
|
| 124 |
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"position": [
|
| 125 |
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-0.010633907819283195,
|
| 126 |
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0.10692170390393585,
|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.06877076113808346,
|
| 131 |
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"xyz": [
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| 132 |
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|
| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_9": {
|
| 139 |
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"confidence": 0.9655154943466187,
|
| 140 |
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"position": [
|
| 141 |
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| 142 |
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|
| 143 |
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|
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],
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"orientation": {
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_10": {
|
| 155 |
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"confidence": 0.9654374718666077,
|
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"position": [
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| 158 |
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|
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|
| 160 |
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],
|
| 161 |
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"orientation": {
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| 162 |
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"w": 0.7637519728602928,
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| 163 |
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"xyz": [
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|
| 167 |
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]
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| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_11": {
|
| 171 |
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"confidence": 0.9653842449188232,
|
| 172 |
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"position": [
|
| 173 |
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0.0032790442201076075,
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| 174 |
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|
| 176 |
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],
|
| 177 |
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"orientation": {
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| 178 |
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"w": 0.06195194830586281,
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| 179 |
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"xyz": [
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},
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{
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"part_name": "base",
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{
|
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"scenario": "grasp the wide base to lift or reposition the mount from a surface",
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"confidence": 0.76
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},
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{
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}
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],
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"support on a surface",
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"prevent tipping",
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| 302 |
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"provide contact with tabletop"
|
| 303 |
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],
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| 304 |
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"semantic_description": "Wide round yellow base made of plastic or rubber-like material with a smooth slightly matte surface, forming the largest bottom disk that rests on the table.",
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| 305 |
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}
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}
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},
|
| 325 |
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{
|
| 326 |
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"part_name": "magnetic phone mount face",
|
| 327 |
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"mask_color": "Blue",
|
| 328 |
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|
| 329 |
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|
| 330 |
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{
|
| 331 |
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"scenario": "pinch the top face lightly to orient or tilt the mount during setup",
|
| 332 |
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|
| 333 |
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}
|
| 334 |
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],
|
| 335 |
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|
| 336 |
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"magnetically hold a phone or metal plate",
|
| 337 |
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"provide contact surface for the phone",
|
| 338 |
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"position the phone for viewing",
|
| 339 |
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"present the device at an angle"
|
| 340 |
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],
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| 341 |
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"semantic_description": "Small circular white face pad at the top with a smooth clean surface, mounted at an angle and sized to contact the back of a phone or attached metal plate.",
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| 342 |
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| 343 |
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],
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},
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],
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}
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| 407 |
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}
|
| 408 |
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}
|
| 409 |
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},
|
| 410 |
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{
|
| 411 |
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"part_name": "rim of mount face",
|
| 412 |
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"mask_color": "Yellow",
|
| 413 |
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"graspable": false,
|
| 414 |
+
"grasp_scenarios": [],
|
| 415 |
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"functional_labels": [
|
| 416 |
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"border the circular mount face",
|
| 417 |
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"protect the edge of the top head",
|
| 418 |
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"provide a finished perimeter",
|
| 419 |
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"help retain the top face assembly"
|
| 420 |
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],
|
| 421 |
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"semantic_description": "Thin white ring around the top circular face, appearing as a narrow smooth rounded rim encircling the angled mount head.",
|
| 422 |
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"id": 3,
|
| 423 |
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"grasp_group": {}
|
| 424 |
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}
|
| 425 |
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],
|
| 426 |
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"quality_check": {
|
| 427 |
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"success": false,
|
| 428 |
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"message": "NO"
|
| 429 |
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}
|
| 430 |
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}
|
dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94d229f5543ba61ecc6acf8a466f80260b55efab0f33596d371f4e699392b6f5
|
| 3 |
+
size 3781916
|