Add asset desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/affordance_annot.json +354 -0
- dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -6215,3 +6215,4 @@ dataset/desktop_supplies/electronic_accessories/4d8c390213ef5b64849ccfc73a1a2d7d
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| 6215 |
dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6216 |
dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6217 |
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6215 |
dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6216 |
dataset/desktop_supplies/electronic_accessories/503f6ad26974523d9446a9e891f92d62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6217 |
dataset/desktop_supplies/electronic_accessories/50ca04d008455530882aeeac8a666575/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6218 |
+
dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,354 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "USB connector",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the metal connector end to pull the drive out of a USB port",
|
| 10 |
+
"confidence": 0.63
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the connector to orient the drive for insertion",
|
| 14 |
+
"confidence": 0.49
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"connect to USB port",
|
| 19 |
+
"enable data transfer",
|
| 20 |
+
"provide electrical interface",
|
| 21 |
+
"support insertion and removal"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal rectangular USB plug at one end, with a smooth reflective finish and visible contact openings, protruding from the red swivel body.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.22839227318763733,
|
| 28 |
+
"position": [
|
| 29 |
+
0.0006689125439152122,
|
| 30 |
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0.12323184916749597,
|
| 31 |
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0.0032253280805889517
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.7012105477209426,
|
| 35 |
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"xyz": [
|
| 36 |
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0.7126453920323933,
|
| 37 |
+
0.018379106812808077,
|
| 38 |
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-0.010125285806114907
|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_3": {
|
| 43 |
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"confidence": 0.3165525496006012,
|
| 44 |
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"position": [
|
| 45 |
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0.014960744767449796,
|
| 46 |
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0.10722406813874841,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.10108398364519212,
|
| 51 |
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"xyz": [
|
| 52 |
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0.019379036862124197,
|
| 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_7": {
|
| 59 |
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"confidence": 0.15492436289787292,
|
| 60 |
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"position": [
|
| 61 |
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-0.04401803633663803,
|
| 62 |
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-0.1162028624676168,
|
| 63 |
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-0.007386329903965816
|
| 64 |
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],
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| 65 |
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"orientation": {
|
| 66 |
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"w": 0.3673080679496694,
|
| 67 |
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"xyz": [
|
| 68 |
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-0.5879330335694793,
|
| 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_10": {
|
| 75 |
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"confidence": 0.47007322311401367,
|
| 76 |
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"position": [
|
| 77 |
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-0.012567047611810267,
|
| 78 |
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0.11496812710538507,
|
| 79 |
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0.0031175279582384974
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.7003640086733136,
|
| 83 |
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"xyz": [
|
| 84 |
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0.7113820020123572,
|
| 85 |
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0.05852294913088929,
|
| 86 |
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0.0009833580022811656
|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "swivel cover body",
|
| 94 |
+
"mask_color": "Olive",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the main red body to pick up and carry the USB drive",
|
| 99 |
+
"confidence": 0.95
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the body to stabilize the drive while rotating or aligning the connector",
|
| 103 |
+
"confidence": 0.9
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"main grasp surface",
|
| 108 |
+
"protect the connector",
|
| 109 |
+
"support swivel rotation",
|
| 110 |
+
"provide object body"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "Red plastic swivel body forming the main housing, with a smooth mostly matte finish, rounded rectangular shape, and a circular pivot area near the center.",
|
| 113 |
+
"id": 14,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_20": {
|
| 116 |
+
"confidence": 0.9377493858337402,
|
| 117 |
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"position": [
|
| 118 |
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0.0974269745638594,
|
| 119 |
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0.0005674648564308882,
|
| 120 |
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-0.003008275612955913
|
| 121 |
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],
|
| 122 |
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"orientation": {
|
| 123 |
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"w": 0.7204882282380763,
|
| 124 |
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"xyz": [
|
| 125 |
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|
| 126 |
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-0.6933477481571396,
|
| 127 |
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-0.005627436512231528
|
| 128 |
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]
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"grasp_21": {
|
| 132 |
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"confidence": 0.9371257424354553,
|
| 133 |
+
"position": [
|
| 134 |
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0.09574932733085006,
|
| 135 |
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0.014210362453013659,
|
| 136 |
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0.000512056372826919
|
| 137 |
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],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.7102424572446361,
|
| 140 |
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"xyz": [
|
| 141 |
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0.05959268643798936,
|
| 142 |
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-0.7000442102427161,
|
| 143 |
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0.04407343140551757
|
| 144 |
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]
|
| 145 |
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}
|
| 146 |
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},
|
| 147 |
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"grasp_26": {
|
| 148 |
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"confidence": 0.930595338344574,
|
| 149 |
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"position": [
|
| 150 |
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0.0983035279205069,
|
| 151 |
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0.006642864551395178,
|
| 152 |
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-0.0030567912326660007
|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.7240882461635685,
|
| 156 |
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"xyz": [
|
| 157 |
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0.016638675455383792,
|
| 158 |
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-0.6894860804012183,
|
| 159 |
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0.005320825107275937
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_28": {
|
| 164 |
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"confidence": 0.924384593963623,
|
| 165 |
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"position": [
|
| 166 |
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0.09638273844029754,
|
| 167 |
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-0.021505666431039572,
|
| 168 |
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0.0005474254139699042
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.7005187541400053,
|
| 172 |
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"xyz": [
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| 173 |
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|
| 174 |
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-0.7069979873367594,
|
| 175 |
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|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_30": {
|
| 180 |
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"confidence": 0.92392897605896,
|
| 181 |
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"position": [
|
| 182 |
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0.0955220697214827,
|
| 183 |
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0.00899245822802186,
|
| 184 |
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0.015187419630819932
|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.010674111680883993,
|
| 188 |
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"xyz": [
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| 189 |
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|
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0.026893287394768373,
|
| 191 |
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|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
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},
|
| 195 |
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"grasp_34": {
|
| 196 |
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"confidence": 0.9229280948638916,
|
| 197 |
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"position": [
|
| 198 |
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0.09604850539471954,
|
| 199 |
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0.020336367655545473,
|
| 200 |
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0.004932229086989537
|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.6921264922489712,
|
| 204 |
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"xyz": [
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0.05767144698125862,
|
| 206 |
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|
| 207 |
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|
| 208 |
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]
|
| 209 |
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}
|
| 210 |
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},
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| 211 |
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| 212 |
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"confidence": 0.9223721027374268,
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| 213 |
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| 223 |
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| 224 |
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| 226 |
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| 227 |
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|
| 228 |
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| 229 |
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|
| 244 |
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| 245 |
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| 249 |
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],
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| 250 |
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| 257 |
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| 258 |
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}
|
| 259 |
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}
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"part_name": "keyring",
|
| 263 |
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"mask_color": "Red",
|
| 264 |
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"graspable": true,
|
| 265 |
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|
| 266 |
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{
|
| 267 |
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"scenario": "hook or pinch the ring to retrieve the drive from a keychain",
|
| 268 |
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"confidence": 0.58
|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
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"scenario": "hold the ring briefly to suspend or reposition the USB drive",
|
| 272 |
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|
| 273 |
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}
|
| 274 |
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],
|
| 275 |
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"functional_labels": [
|
| 276 |
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"attach to keychain",
|
| 277 |
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"provide hanging point",
|
| 278 |
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"support carrying on a ring"
|
| 279 |
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],
|
| 280 |
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"semantic_description": "Small circular silver metal split ring attached at the rear of the drive, with a smooth shiny metallic finish.",
|
| 281 |
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"id": 0,
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| 282 |
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| 283 |
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},
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|
| 300 |
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|
| 301 |
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0.10722406813874841,
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],
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| 307 |
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| 309 |
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| 311 |
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|
| 312 |
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|
| 313 |
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}
|
| 314 |
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},
|
| 315 |
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"grasp_7": {
|
| 316 |
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|
| 317 |
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| 318 |
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| 319 |
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|
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],
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| 322 |
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| 327 |
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]
|
| 329 |
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}
|
| 330 |
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},
|
| 331 |
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"grasp_10": {
|
| 332 |
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"confidence": 0.47007322311401367,
|
| 333 |
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| 334 |
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],
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| 338 |
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| 339 |
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| 340 |
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| 341 |
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| 345 |
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}
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| 346 |
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}
|
| 347 |
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}
|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"quality_check": {
|
| 351 |
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"success": false,
|
| 352 |
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"message": "Mask colors are wrong for connector and keyring; ring is not red and connector shares ring mask color."
|
| 353 |
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}
|
| 354 |
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}
|
dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5246ef697e29f5a99d0b144a033fc968ac5e70421b6a302da62dc499a7075abb
|
| 3 |
+
size 3816968
|
dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
<quality>
|
| 57 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
<quality>
|
| 58 |
<PartSegChecker>YES</PartSegChecker>
|