Add asset desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/affordance_annot.json +321 -0
- dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/ce864af4efa45b94b8a6bd80332a1877.urdf +1 -0
.gitattributes
CHANGED
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@@ -6153,4 +6153,4 @@ dataset/desktop_supplies/decorations/b26f92a9866651f1829364b31bb4eef7/affordance
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| 6153 |
dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6154 |
dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6155 |
dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6156 |
-
dataset/desktop_supplies/decorations/
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| 6153 |
dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6154 |
dataset/desktop_supplies/decorations/b6777c3ad13e597a88757bbf1147d569/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6155 |
dataset/desktop_supplies/decorations/c25d39f40c045e75919ea01ea08b8c87/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6156 |
+
dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "temples",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one temple to pick up or reposition the glasses from a table",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold a temple to fold or unfold the glasses",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip both temples near the sides to stabilize the glasses during placement",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the glasses on the ears",
|
| 23 |
+
"fold for storage",
|
| 24 |
+
"provide side structure",
|
| 25 |
+
"enable handling and repositioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thin dark gray side arms, likely coated metal or plastic, with a smooth matte to satin finish and a long slightly curved shape extending rearward from the hinges.",
|
| 28 |
+
"id": 6,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_24": {
|
| 31 |
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"confidence": 0.7278613448143005,
|
| 32 |
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"position": [
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| 33 |
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|
| 34 |
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0.0803260492393747,
|
| 35 |
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-0.08620529295876622
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.27960069631341655,
|
| 39 |
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"xyz": [
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| 40 |
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0.025948048857235107,
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| 41 |
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0.0550602062765404,
|
| 42 |
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-0.9581850150499852
|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_29": {
|
| 47 |
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"confidence": 0.900077223777771,
|
| 48 |
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"position": [
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| 49 |
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0.0970969945192337,
|
| 50 |
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-0.04033769422676414,
|
| 51 |
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0.09649402974173427
|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.06553641566017003,
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| 55 |
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"xyz": [
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| 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_30": {
|
| 63 |
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"confidence": 0.8975390195846558,
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| 64 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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],
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"orientation": {
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"w": 0.04206722773855716,
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| 71 |
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"xyz": [
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| 74 |
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_31": {
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| 79 |
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"confidence": 0.8769538998603821,
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| 80 |
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"position": [
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| 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": {
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| 86 |
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"w": 0.25067853051821787,
|
| 87 |
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"xyz": [
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| 88 |
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| 89 |
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0.005458864549790554,
|
| 90 |
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-0.02756042892798903
|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_32": {
|
| 95 |
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"confidence": 0.8627307415008545,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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0.08856433955952525
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.30648421532394315,
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| 103 |
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"xyz": [
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|
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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_33": {
|
| 111 |
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"confidence": 0.8603854179382324,
|
| 112 |
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"position": [
|
| 113 |
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0.1199331246316433,
|
| 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": 0.19687959045740555,
|
| 119 |
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"xyz": [
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| 120 |
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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_34": {
|
| 127 |
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"confidence": 0.8566707968711853,
|
| 128 |
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"position": [
|
| 129 |
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0.09106316789984703,
|
| 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": 0.0608439611037235,
|
| 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_35": {
|
| 143 |
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"confidence": 0.8249305486679077,
|
| 144 |
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"position": [
|
| 145 |
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0.08816253021359444,
|
| 146 |
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0.06131172052118927,
|
| 147 |
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0.10254458663985133
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.022899099481459045,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.0016890133080279793,
|
| 153 |
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-0.9683981839542315,
|
| 154 |
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0.2483500267588665
|
| 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": 0.8246857523918152,
|
| 160 |
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"position": [
|
| 161 |
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0.09939280152320862,
|
| 162 |
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-0.036547237425111234,
|
| 163 |
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0.1053241821937263
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
+
"w": 0.22125433178674606,
|
| 167 |
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"xyz": [
|
| 168 |
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0.9700560159565307,
|
| 169 |
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-0.037103689830796455,
|
| 170 |
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-0.09306536827995594
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
+
"grasp_37": {
|
| 175 |
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"confidence": 0.8023669719696045,
|
| 176 |
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"position": [
|
| 177 |
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0.08979498222470284,
|
| 178 |
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-0.025676745339296758,
|
| 179 |
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0.10024576215073466
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.28048190181701793,
|
| 183 |
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"xyz": [
|
| 184 |
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0.9539411196979168,
|
| 185 |
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-0.09822575280822521,
|
| 186 |
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-0.040962719487981
|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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}
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
{
|
| 193 |
+
"part_name": "front frame",
|
| 194 |
+
"mask_color": "Blue",
|
| 195 |
+
"graspable": true,
|
| 196 |
+
"grasp_scenarios": [
|
| 197 |
+
{
|
| 198 |
+
"scenario": "grasp the front frame at one outer edge to lift the glasses",
|
| 199 |
+
"confidence": 0.67
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"scenario": "pinch the bridge and frame front to orient the glasses for placement",
|
| 203 |
+
"confidence": 0.61
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"scenario": "hold the frame front to stabilize while folding a temple",
|
| 207 |
+
"confidence": 0.74
|
| 208 |
+
}
|
| 209 |
+
],
|
| 210 |
+
"functional_labels": [
|
| 211 |
+
"hold the lenses",
|
| 212 |
+
"span across the face",
|
| 213 |
+
"provide overall structure",
|
| 214 |
+
"position the lenses in front of the eyes"
|
| 215 |
+
],
|
| 216 |
+
"semantic_description": "Thin dark gray rectangular full-rim front frame with a hard smooth profile, matte finish, and a narrow bridge centered between two small rectangular lens openings.",
|
| 217 |
+
"id": 2,
|
| 218 |
+
"grasp_group": {
|
| 219 |
+
"grasp_0": {
|
| 220 |
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"confidence": 0.8771535754203796,
|
| 221 |
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"position": [
|
| 222 |
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0.1617824025452137,
|
| 223 |
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| 300 |
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},
|
| 301 |
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{
|
| 302 |
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"part_name": "nose pads",
|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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"functional_labels": [
|
| 307 |
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|
| 308 |
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|
| 309 |
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"stabilize the glasses on the face",
|
| 310 |
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"set spacing from the face"
|
| 311 |
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],
|
| 312 |
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"semantic_description": "Small light gray to translucent nose pads mounted near the center bridge area, with a smooth surface and compact protruding shape for contact with the nose.",
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| 313 |
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| 314 |
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|
| 315 |
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}
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],
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|
| 318 |
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"success": true,
|
| 319 |
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"message": "YES"
|
| 320 |
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| 321 |
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}
|
dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/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 sha256:338a540deb76586fc972844c701f15c84010dbe13bb3d58265012eb34e184fff
|
| 3 |
+
size 714336
|
dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/ce864af4efa45b94b8a6bd80332a1877.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 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 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 |
</custom_data>
|
| 58 |
</robot>
|