Add asset desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/affordance_annot.json +402 -0
- dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/ballpoint_pen_003.urdf +1 -0
.gitattributes
CHANGED
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@@ -8219,3 +8219,4 @@ dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/affo
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| 8219 |
dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8221 |
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8219 |
dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8221 |
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8222 |
+
dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,402 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the middle of the barrel to pick up and hold the pen for general manipulation or writing",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to reorient the pen so the tip faces downward",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the barrel to stabilize the pen while removing it from a surface or holder",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink mechanism",
|
| 24 |
+
"support writing control",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long light green bamboo-like body with a smooth mostly matte finish, cylindrical segmented shape, medium size, and raised node rings along the pen.",
|
| 28 |
+
"id": 10,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9133038520812988,
|
| 32 |
+
"position": [
|
| 33 |
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-0.12495977830258198,
|
| 34 |
+
-0.0019648634570330614,
|
| 35 |
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-0.0008568306511733681
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.5091621771061033,
|
| 39 |
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"xyz": [
|
| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_24": {
|
| 47 |
+
"confidence": 0.8999006152153015,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.4714360690481153,
|
| 55 |
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"xyz": [
|
| 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_25": {
|
| 63 |
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"confidence": 0.899724006652832,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5649438805825789,
|
| 71 |
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"xyz": [
|
| 72 |
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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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},
|
| 78 |
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"grasp_26": {
|
| 79 |
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"confidence": 0.8969802856445312,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.579335004174335,
|
| 87 |
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"xyz": [
|
| 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 |
+
},
|
| 94 |
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"grasp_31": {
|
| 95 |
+
"confidence": 0.8740502595901489,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.5656023949962021,
|
| 103 |
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"xyz": [
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| 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_32": {
|
| 111 |
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"confidence": 0.8578782677650452,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.4722842822986374,
|
| 119 |
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"xyz": [
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| 120 |
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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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},
|
| 126 |
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"grasp_33": {
|
| 127 |
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"confidence": 0.8487369418144226,
|
| 128 |
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"position": [
|
| 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": {
|
| 134 |
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"w": 0.49588359118391034,
|
| 135 |
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"xyz": [
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| 136 |
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| 137 |
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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_34": {
|
| 143 |
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"confidence": 0.846240758895874,
|
| 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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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.466839099543721,
|
| 151 |
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"xyz": [
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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_36": {
|
| 159 |
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"confidence": 0.833717942237854,
|
| 160 |
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"position": [
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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],
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| 165 |
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"orientation": {
|
| 166 |
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"w": 0.5291889348598093,
|
| 167 |
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"xyz": [
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| 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_37": {
|
| 175 |
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"confidence": 0.8311858177185059,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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| 179 |
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| 180 |
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],
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| 181 |
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"orientation": {
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| 182 |
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| 187 |
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]
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| 188 |
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"part_name": "pen tip, back end cap, clip, and leaf decorations",
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{
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"scenario": "grasp the back end cap to pull the pen from a holder or reposition it",
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{
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"scenario": "lightly pinch the clip area to stabilize or align the pen",
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},
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| 221 |
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{
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| 222 |
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"scenario": "avoid grasping directly on the writing tip except for very delicate alignment",
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],
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"write or mark with the tip",
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| 228 |
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"clip the pen to a pocket or notebook",
|
| 229 |
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"provide decorative plant-like styling",
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| 230 |
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"form the rear termination of the pen"
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| 231 |
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],
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"semantic_description": "Small tan to brown smooth pieces at the front tip and rear end, plus a light green side clip with leaf-shaped decorative elements attached near the upper side of the barrel; the front ends in a pointed writing nib and the back has a short rounded cap-like end.",
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"id": 5,
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],
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}
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}
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],
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| 398 |
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"quality_check": {
|
| 399 |
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"success": false,
|
| 400 |
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"message": "Purple mask combines multiple distinct parts; part_name is too merged and semantics/grasp labels are not specific enough."
|
| 401 |
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}
|
| 402 |
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}
|
dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/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 sha256:6e57549572b75029c40de0d0c06f567e96ba09014ba878e6c788a2a144422476
|
| 3 |
+
size 3807996
|
dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/ballpoint_pen_003.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|