Add asset desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef
Browse files
.gitattributes
CHANGED
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@@ -6160,3 +6160,4 @@ dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/affordance
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| 6160 |
dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6161 |
dataset/desktop_supplies/decorations/e1d010d5f3795d6aac835d2755074fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6162 |
dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6160 |
dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6161 |
dataset/desktop_supplies/decorations/e1d010d5f3795d6aac835d2755074fb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6162 |
dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6163 |
+
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,975 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "head of chess pawn",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the rounded top and collar to pick up the pawn",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the upper section to reposition the pawn on the board",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the upper section to stabilize the pawn while rotating it",
|
| 18 |
+
"confidence": 0.61
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"serve as the identifiable top",
|
| 23 |
+
"provide an upper pinch area",
|
| 24 |
+
"help distinguish the piece silhouette",
|
| 25 |
+
"support manual or robotic repositioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small rounded top and collar section in light tan wood with a smooth slightly glossy finish, hard fine-grained texture, and a turned spherical shape at the uppermost part of the pawn.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9867881536483765,
|
| 32 |
+
"position": [
|
| 33 |
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0.07155553586198948,
|
| 34 |
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-0.06944521371042356,
|
| 35 |
+
0.02466701064258814
|
| 36 |
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],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.2759939864155229,
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| 39 |
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"xyz": [
|
| 40 |
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0.2813725148467272,
|
| 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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"grasp_1": {
|
| 47 |
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"confidence": 0.9859024286270142,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
|
| 53 |
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"orientation": {
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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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| 59 |
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|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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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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| 79 |
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| 80 |
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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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| 87 |
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| 88 |
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| 89 |
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| 90 |
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0.032879899855468686
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| 91 |
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|
| 92 |
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| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9846524596214294,
|
| 96 |
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|
| 97 |
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| 99 |
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| 100 |
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| 101 |
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| 103 |
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| 106 |
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| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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| 112 |
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| 114 |
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| 116 |
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| 117 |
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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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|
| 127 |
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| 128 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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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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|
| 143 |
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"confidence": 0.9842706322669983,
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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0.018394927494227886
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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|
| 151 |
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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_8": {
|
| 159 |
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"confidence": 0.9840590953826904,
|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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0.05046033952385187
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| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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| 167 |
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| 168 |
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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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|
| 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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0.0849872613325715
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| 180 |
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| 181 |
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| 183 |
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| 187 |
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| 188 |
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| 189 |
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},
|
| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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| 196 |
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| 197 |
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| 198 |
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| 201 |
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| 202 |
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0.06805701578741621
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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|
| 207 |
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"confidence": 0.983604371547699,
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| 208 |
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| 209 |
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|
| 210 |
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| 211 |
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0.010411114431917667
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| 212 |
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| 213 |
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| 215 |
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| 216 |
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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},
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| 222 |
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|
| 223 |
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| 224 |
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| 225 |
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| 226 |
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0.0474169896915555
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| 228 |
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| 230 |
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| 234 |
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| 270 |
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},
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}
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| 317 |
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},
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| 318 |
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}
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},
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{
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"part_name": "base of chess pawn",
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| 354 |
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| 355 |
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| 356 |
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| 357 |
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{
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| 358 |
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"scenario": "grasp around the wide base rim to lift the pawn from a flat surface",
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},
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{
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"scenario": "hold the base to place the pawn accurately on a board square",
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},
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| 365 |
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{
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"scenario": "grip the lower body and base to stabilize the piece during sorting",
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}
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],
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"support standing upright",
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"provide a stable contact surface",
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"enable precise placement",
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"offer a wide grasp region"
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],
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},
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{
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"part_name": "stem of chess pawn",
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{
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"scenario": "grasp the narrow mid-body to pick up the pawn",
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},
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{
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"scenario": "hold the central body to move the pawn between squares",
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},
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{
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"scenario": "grip the midsection to sort or align multiple pawns",
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}
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],
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"connect top to base",
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"provide the main grasp area",
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"support lifting and moving",
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| 643 |
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"define the pawn silhouette"
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],
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"semantic_description": "Tapered central body and underside disk in light tan wood with a smooth slightly glossy finish, hard fine-grained texture, and a turned hourglass-like shape between the head and base.",
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|
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 705848
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