Add asset desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68
Browse files
.gitattributes
CHANGED
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@@ -8231,3 +8231,4 @@ dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affo
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| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8232 |
dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8233 |
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8232 |
dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8233 |
dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8234 |
+
dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,366 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "transparent tape body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer cylindrical surface from opposite sides to pick up the tape roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer rim to stabilize the roll while dispensing tape",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the roll at opposite outer edges to reposition it",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"adhesive tape material",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"outer structural body",
|
| 25 |
+
"dispensing surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A wide ring-shaped body of translucent milky-white tape with a smooth slightly glossy plastic surface, forming the outer cylinder and most of the roll's visible volume.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9820601940155029,
|
| 32 |
+
"position": [
|
| 33 |
+
0.11767285061068833,
|
| 34 |
+
-0.00922131584957242,
|
| 35 |
+
-0.00040732198976911604
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.045356758949692155,
|
| 39 |
+
"xyz": [
|
| 40 |
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0.7193661081805737,
|
| 41 |
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0.05368979480637026,
|
| 42 |
+
-0.6910662578598122
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9817609190940857,
|
| 48 |
+
"position": [
|
| 49 |
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-0.029340152395889163,
|
| 50 |
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0.11846578726544976,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5091748474301728,
|
| 55 |
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"xyz": [
|
| 56 |
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0.5009496190488917,
|
| 57 |
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|
| 58 |
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9778557419776917,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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0.020748500246554613,
|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.1270818829994792,
|
| 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_3": {
|
| 79 |
+
"confidence": 0.9755905866622925,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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0.0047024746891111135,
|
| 83 |
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0.0015370298933703452
|
| 84 |
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],
|
| 85 |
+
"orientation": {
|
| 86 |
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"w": 0.08229625387757672,
|
| 87 |
+
"xyz": [
|
| 88 |
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|
| 89 |
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0.044394229662110596,
|
| 90 |
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|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9724527597427368,
|
| 96 |
+
"position": [
|
| 97 |
+
0.11737654847092927,
|
| 98 |
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0.015134896617382765,
|
| 99 |
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0.022100435016909614
|
| 100 |
+
],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.09390844456029723,
|
| 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_5": {
|
| 111 |
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"confidence": 0.9679622650146484,
|
| 112 |
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"position": [
|
| 113 |
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0.11709751677699387,
|
| 114 |
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0.008878129534423351,
|
| 115 |
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0.0013927761756349355
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.06762461364786129,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
+
},
|
| 126 |
+
"grasp_8": {
|
| 127 |
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"confidence": 0.9575130343437195,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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0.023877799976617098,
|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.1540737778756272,
|
| 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_13": {
|
| 143 |
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"confidence": 0.9425139427185059,
|
| 144 |
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"position": [
|
| 145 |
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0.10933336359448731,
|
| 146 |
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0.018047931138426065,
|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.1334616077712296,
|
| 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_14": {
|
| 159 |
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"confidence": 0.9394125938415527,
|
| 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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"orientation": {
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| 166 |
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"w": 0.05466769791204001,
|
| 167 |
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"xyz": [
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| 168 |
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|
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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_15": {
|
| 175 |
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"confidence": 0.9378419518470764,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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0.021848204924026504
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.17157481827202542,
|
| 183 |
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"xyz": [
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|
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|
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|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_16": {
|
| 191 |
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"confidence": 0.9328321814537048,
|
| 192 |
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"position": [
|
| 193 |
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|
| 194 |
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|
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|
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],
|
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"orientation": {
|
| 198 |
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"w": 0.6668318906236457,
|
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"xyz": [
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|
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]
|
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}
|
| 205 |
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},
|
| 206 |
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"grasp_18": {
|
| 207 |
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"confidence": 0.9250844120979309,
|
| 208 |
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"position": [
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|
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|
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| 224 |
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| 238 |
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|
| 239 |
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},
|
| 240 |
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{
|
| 241 |
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"part_name": "inner core liner",
|
| 242 |
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"mask_color": "Green",
|
| 243 |
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"graspable": true,
|
| 244 |
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"grasp_scenarios": [
|
| 245 |
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{
|
| 246 |
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"scenario": "insert or pinch a gripper into the center opening against the inner wall to lift or orient the roll",
|
| 247 |
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"confidence": 0.7
|
| 248 |
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|
| 249 |
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|
| 250 |
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"scenario": "contact the inner ring surface to align the roll for placement on a spindle",
|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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"functional_labels": [
|
| 255 |
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"define central opening",
|
| 256 |
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"support the wound tape from inside",
|
| 257 |
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"enable mounting on a spindle",
|
| 258 |
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"provide inner alignment surface"
|
| 259 |
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],
|
| 260 |
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"semantic_description": "A hollow inner ring lining the center opening, visible as a light tan to off-white matte surface with a slightly fibrous or paper-like texture around the inside of the roll.",
|
| 261 |
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"id": 1,
|
| 262 |
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|
| 263 |
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|
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},
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|
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| 360 |
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}
|
| 361 |
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],
|
| 362 |
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"quality_check": {
|
| 363 |
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"success": true,
|
| 364 |
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"message": "YES"
|
| 365 |
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}
|
| 366 |
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}
|
dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f2b57b7fb153cdd4a38b9efafce2f98b648e422f698303682926410e527f1c96
|
| 3 |
+
size 3781840
|