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Add asset desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19

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Files changed (3) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/affordance_annot.json +754 -0
  3. dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/mesh_part_seg.glb +3 -0
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+ "confidence": 0.1701449751853943,
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+ "position": [
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+ -0.09865185234230012,
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+ -0.06835615541785955
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+ ],
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+ "orientation": {
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+ "w": 0.04105720121765882,
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+ -0.025871522689410835,
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+ -0.49852191235502163,
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+ -0.8655176910056754
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+ ]
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+ }
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+ }
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+ }
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+ },
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+ {
524
+ "part_name": "crank arm",
525
+ "mask_color": "Blue",
526
+ "graspable": true,
527
+ "grasp_scenarios": [
528
+ {
529
+ "scenario": "grasp the crank arm to rotate the sharpening mechanism",
530
+ "confidence": 0.64
531
+ },
532
+ {
533
+ "scenario": "hold the arm to fold or reposition the handle",
534
+ "confidence": 0.6
535
+ }
536
+ ],
537
+ "functional_labels": [
538
+ "transmit rotation",
539
+ "connect handle knob to shaft",
540
+ "enable manual sharpening"
541
+ ],
542
+ "semantic_description": "Slim silver metal arm with a smooth slightly reflective finish, extending from the side hub to the black knob as the rotating linkage.",
543
+ "id": 2,
544
+ "grasp_group": {
545
+ "grasp_28": {
546
+ "confidence": 0.7623114585876465,
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+ "position": [
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+ ],
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+ "orientation": {
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+ "xyz": [
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+ 0.010315331788230742,
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+ -0.705061569089506
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+ ]
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+ }
560
+ }
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+ }
562
+ },
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+ {
564
+ "part_name": "crank knob",
565
+ "mask_color": "Pink",
566
+ "graspable": true,
567
+ "grasp_scenarios": [
568
+ {
569
+ "scenario": "grasp the knob to turn the crank during sharpening",
570
+ "confidence": 0.95
571
+ },
572
+ {
573
+ "scenario": "hold the knob to fold or park the handle after use",
574
+ "confidence": 0.72
575
+ }
576
+ ],
577
+ "functional_labels": [
578
+ "provide turning grip",
579
+ "improve hand traction",
580
+ "enable crank rotation"
581
+ ],
582
+ "semantic_description": "Short black cylindrical knob with a ribbed matte surface, mounted at the end of the crank and used as the main handhold.",
583
+ "id": 8,
584
+ "grasp_group": {
585
+ "grasp_60": {
586
+ "confidence": 0.3394857347011566,
587
+ "position": [
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+ -0.12739346431044396,
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+ -0.005551560432650149,
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+ 0.012277810834348202
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+ ],
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+ "orientation": {
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+ "w": 0.5035516554519541,
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+ "xyz": [
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+ 0.4952673385444868,
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+ 0.48822319112990475,
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+ 0.5126247256088903
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+ ]
599
+ }
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+ },
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+ "grasp_61": {
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+ "confidence": 0.16179929673671722,
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+ "position": [
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+ -0.12675536678580102,
605
+ -0.005119095440022647,
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+ -0.01127353124320507
607
+ ],
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+ "orientation": {
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+ "xyz": [
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+ 0.42392150615839774,
613
+ 0.5596849530947565
614
+ ]
615
+ }
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+ },
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+ "grasp_62": {
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+ "confidence": 0.17854559421539307,
619
+ "position": [
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621
+ -0.00897107261698693,
622
+ 0.005197032354772091
623
+ ],
624
+ "orientation": {
625
+ "w": 0.5223793602000683,
626
+ "xyz": [
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+ -0.47919948476988933,
628
+ 0.4767749437579569,
629
+ -0.5197819839488834
630
+ ]
631
+ }
632
+ },
633
+ "grasp_63": {
634
+ "confidence": 0.7603410482406616,
635
+ "position": [
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+ -0.1188595916464692,
637
+ -0.006486059515736997,
638
+ 0.05992781091481447
639
+ ],
640
+ "orientation": {
641
+ "w": 0.36645949938076605,
642
+ "xyz": [
643
+ -0.6025503794452722,
644
+ 0.6064576375163864,
645
+ -0.36721874876155286
646
+ ]
647
+ }
648
+ }
649
+ }
650
+ },
651
+ {
652
+ "part_name": "crank hub",
653
+ "mask_color": "Orange",
654
+ "graspable": false,
655
+ "grasp_scenarios": [],
656
+ "functional_labels": [
657
+ "mount crank arm",
658
+ "transfer torque into mechanism",
659
+ "support handle rotation"
660
+ ],
661
+ "semantic_description": "Small white cylindrical side hub with a smooth hard plastic appearance, protruding from the body where the crank arm attaches.",
662
+ "id": 4,
663
+ "grasp_group": {}
664
+ },
665
+ {
666
+ "part_name": "pencil entry hole",
667
+ "mask_color": "Teal",
668
+ "graspable": false,
669
+ "grasp_scenarios": [],
670
+ "functional_labels": [
671
+ "accept pencil insertion",
672
+ "guide pencil toward blade",
673
+ "define sharpening axis"
674
+ ],
675
+ "semantic_description": "Small dark circular opening recessed in the white front panel, serving as the pencil inlet to the internal cutter.",
676
+ "id": 10,
677
+ "grasp_group": {}
678
+ },
679
+ {
680
+ "part_name": "entry collar",
681
+ "mask_color": "Olive",
682
+ "graspable": false,
683
+ "grasp_scenarios": [],
684
+ "functional_labels": [
685
+ "reinforce pencil inlet",
686
+ "guide insertion",
687
+ "protect opening edge"
688
+ ],
689
+ "semantic_description": "Thin white circular collar around the pencil hole on the front panel, surrounding the dark inlet opening.",
690
+ "id": 14,
691
+ "grasp_group": {}
692
+ },
693
+ {
694
+ "part_name": "top badge",
695
+ "mask_color": "Yellow",
696
+ "graspable": false,
697
+ "grasp_scenarios": [],
698
+ "functional_labels": [
699
+ "display branding",
700
+ "display markings",
701
+ "decorate housing"
702
+ ],
703
+ "semantic_description": "Narrow white label plate on the top surface with small dark markings, flush-mounted and informational rather than structural.",
704
+ "id": 3,
705
+ "grasp_group": {}
706
+ },
707
+ {
708
+ "part_name": "top mount block",
709
+ "mask_color": "Red",
710
+ "graspable": false,
711
+ "grasp_scenarios": [],
712
+ "functional_labels": [
713
+ "support the top ring feature",
714
+ "raise the ring above the top surface",
715
+ "locate upper hardware"
716
+ ],
717
+ "semantic_description": "Small white rectangular raised block on the top front with a smooth plastic finish, serving as the mounting feature beneath the round top ring.",
718
+ "id": 0,
719
+ "grasp_group": {}
720
+ },
721
+ {
722
+ "part_name": "top ring",
723
+ "mask_color": "Magenta",
724
+ "graspable": false,
725
+ "grasp_scenarios": [],
726
+ "functional_labels": [
727
+ "provide a small ring feature",
728
+ "serve as an attachment or hanging point",
729
+ "indicate the top accessory location"
730
+ ],
731
+ "semantic_description": "Small white circular ring-like feature on the top front, slightly raised above the housing and mounted on the white top block.",
732
+ "id": 7,
733
+ "grasp_group": {}
734
+ },
735
+ {
736
+ "part_name": "side panel",
737
+ "mask_color": "Burnt Orange",
738
+ "graspable": false,
739
+ "grasp_scenarios": [],
740
+ "functional_labels": [
741
+ "cover a side opening",
742
+ "provide access to an internal compartment",
743
+ "protect the side aperture"
744
+ ],
745
+ "semantic_description": "Small orange-brown rectangular inset panel on one side of the body near the lower rear area, set within a white bordered recess.",
746
+ "id": 18,
747
+ "grasp_group": {}
748
+ }
749
+ ],
750
+ "quality_check": {
751
+ "success": false,
752
+ "message": "Several part descriptions and functions mismatch visible object details, especially top ring/block and side panel/drawer interpretation."
753
+ }
754
+ }
dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/mesh_part_seg.glb ADDED
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