Add asset desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/affordance_annot.json +353 -0
- dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.urdf +1 -0
.gitattributes
CHANGED
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@@ -8202,3 +8202,4 @@ dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/affo
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| 8202 |
dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8203 |
dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8204 |
dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8202 |
dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8203 |
dataset/desktop_supplies/office_stationery/dac8cbfc6bbc5d018d7b792ea577c307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8204 |
dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8205 |
+
dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,353 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer body to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and twisting a pencil",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the body from the sides for stabilization during sharpening",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the sharpening mechanism",
|
| 24 |
+
"support sharpening",
|
| 25 |
+
"stabilize the object on a surface",
|
| 26 |
+
"provide structure around the pencil openings"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large reddish-orange outer body with a matte finish and molded fine linear texture, shaped like a tapered multi-faceted block. It has a top circular opening, a side/front circular opening, and a recessed side slot exposing the cutter assembly.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9154099225997925,
|
| 33 |
+
"position": [
|
| 34 |
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|
| 35 |
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-0.001472307340009138,
|
| 36 |
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0.08497340918984264
|
| 37 |
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],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.3569634994070628,
|
| 40 |
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"xyz": [
|
| 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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},
|
| 47 |
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"grasp_1": {
|
| 48 |
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"confidence": 0.9097063541412354,
|
| 49 |
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"position": [
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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],
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| 54 |
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"orientation": {
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| 55 |
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"w": 0.36463091557639227,
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| 56 |
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"xyz": [
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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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},
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| 63 |
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"grasp_2": {
|
| 64 |
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"confidence": 0.9076045751571655,
|
| 65 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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],
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| 70 |
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"orientation": {
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| 71 |
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"w": 0.3177969607178302,
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| 72 |
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"xyz": [
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| 75 |
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| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.8985185623168945,
|
| 81 |
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"position": [
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| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.34841276997117193,
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| 88 |
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"xyz": [
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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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},
|
| 95 |
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"grasp_5": {
|
| 96 |
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"confidence": 0.8954207897186279,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
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| 103 |
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"w": 0.369574085611716,
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| 104 |
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"xyz": [
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| 107 |
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| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_6": {
|
| 112 |
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"confidence": 0.8923337459564209,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.373135452493071,
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| 120 |
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"xyz": [
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| 122 |
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| 123 |
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| 124 |
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]
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| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_7": {
|
| 128 |
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"confidence": 0.8913243412971497,
|
| 129 |
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| 130 |
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| 132 |
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| 133 |
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],
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"orientation": {
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| 140 |
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]
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| 141 |
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}
|
| 142 |
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},
|
| 143 |
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"grasp_8": {
|
| 144 |
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"confidence": 0.8873242139816284,
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| 145 |
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"position": [
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|
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| 149 |
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],
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"orientation": {
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| 151 |
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| 156 |
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]
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}
|
| 158 |
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},
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| 159 |
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"grasp_9": {
|
| 160 |
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"confidence": 0.8865355849266052,
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"position": [
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"orientation": {
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}
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| 174 |
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},
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| 175 |
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"grasp_10": {
|
| 176 |
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"confidence": 0.8857723474502563,
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| 177 |
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"position": [
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| 178 |
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],
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"orientation": {
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]
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}
|
| 190 |
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},
|
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"grasp_12": {
|
| 192 |
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"confidence": 0.883507251739502,
|
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"position": [
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"orientation": {
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|
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"grasp_14": {
|
| 208 |
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|
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"position": [
|
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}
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}
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},
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| 305 |
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{
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| 306 |
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"part_name": "blade assembly",
|
| 307 |
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"mask_color": "Yellow",
|
| 308 |
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"graspable": false,
|
| 309 |
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|
| 310 |
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"functional_labels": [
|
| 311 |
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"cut wood casing",
|
| 312 |
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"shave pencil core",
|
| 313 |
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"provide the sharpening edge",
|
| 314 |
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"enable material removal"
|
| 315 |
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],
|
| 316 |
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"semantic_description": "Exposed white to silver metal cutter assembly in a recessed side slot, with a smooth reflective surface, fine ridged cutting edge, and a visible central screw fastening it to the body.",
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| 317 |
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"id": 3,
|
| 318 |
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"grasp_group": {}
|
| 319 |
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},
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| 320 |
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{
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| 321 |
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"part_name": "top pencil opening",
|
| 322 |
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"mask_color": "Orange",
|
| 323 |
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"graspable": false,
|
| 324 |
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"grasp_scenarios": [],
|
| 325 |
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"functional_labels": [
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| 326 |
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"guide pencil insertion",
|
| 327 |
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"align the pencil with the cutter",
|
| 328 |
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"define the sharpening entry point"
|
| 329 |
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],
|
| 330 |
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"semantic_description": "Small circular opening on the top face of the body, appearing as a dark recessed hole with smooth inner walls sized for a pencil.",
|
| 331 |
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"id": 4,
|
| 332 |
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"grasp_group": {}
|
| 333 |
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},
|
| 334 |
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{
|
| 335 |
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"part_name": "front pencil opening",
|
| 336 |
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"mask_color": "Blue",
|
| 337 |
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"graspable": false,
|
| 338 |
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"grasp_scenarios": [],
|
| 339 |
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"functional_labels": [
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| 340 |
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"guide pencil insertion",
|
| 341 |
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"align the pencil with the cutter",
|
| 342 |
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"provide a side/front sharpening entry"
|
| 343 |
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],
|
| 344 |
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"semantic_description": "Small circular opening on the side/front face of the body, appearing as a dark recessed hole with smooth inner walls and centered on that face.",
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| 345 |
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"id": 2,
|
| 346 |
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"grasp_group": {}
|
| 347 |
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}
|
| 348 |
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],
|
| 349 |
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"quality_check": {
|
| 350 |
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"success": false,
|
| 351 |
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"message": "Front opening mask color is wrong and body description color is inaccurate."
|
| 352 |
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}
|
| 353 |
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}
|
dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
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|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:599322d9e41a8ca142c2dcc732e9afde4b902fea6316315b033712641279e601
|
| 3 |
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size 3782928
|
dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|