Add asset desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/affordance_annot.json +317 -0
- dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/glue_stick_033.urdf +1 -0
.gitattributes
CHANGED
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@@ -6290,4 +6290,4 @@ dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affo
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| 6290 |
dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6291 |
dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6292 |
dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6293 |
-
dataset/desktop_supplies/office_stationery/
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| 6290 |
dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6291 |
dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6292 |
dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6293 |
+
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "glue stick barrel",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical barrel to pick up and move the glue stick",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel while manipulating the lower base section",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the glue stick body during placement or handling",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain the adhesive mechanism",
|
| 24 |
+
"support handling during use",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall white plastic cylindrical body with a smooth matte-to-satin hard surface, slightly tapered and centrally positioned, with red printed branding and text on the side.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "base cap",
|
| 33 |
+
"mask_color": "Purple",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the wider base cap to pick up the glue stick from a flat surface",
|
| 38 |
+
"confidence": 0.74
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the lower base area during manipulation",
|
| 42 |
+
"confidence": 0.64
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "use the base cap as a stabilizing hold near the bottom during placement",
|
| 46 |
+
"confidence": 0.58
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"cover the bottom end",
|
| 51 |
+
"provide a standing base",
|
| 52 |
+
"house or interface with the bottom mechanism",
|
| 53 |
+
"stabilize upright placement"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Wide white plastic bottom base section with a smooth matte hard surface, disk-like and slightly flared, located at the lower end and forming the broadest support area.",
|
| 56 |
+
"id": 5,
|
| 57 |
+
"grasp_group": {
|
| 58 |
+
"grasp_0": {
|
| 59 |
+
"confidence": 0.9659979343414307,
|
| 60 |
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"position": [
|
| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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"w": 0.1897071022742521,
|
| 67 |
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"xyz": [
|
| 68 |
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| 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_2": {
|
| 75 |
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"confidence": 0.9604172706604004,
|
| 76 |
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"position": [
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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"orientation": {
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| 82 |
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"w": 0.8613522264262404,
|
| 83 |
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"xyz": [
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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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"grasp_5": {
|
| 91 |
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"confidence": 0.9531180262565613,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.9600892523332859,
|
| 99 |
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"xyz": [
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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"grasp_6": {
|
| 107 |
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"confidence": 0.9522958993911743,
|
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"position": [
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| 110 |
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| 111 |
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|
| 112 |
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"orientation": {
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"xyz": [
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| 118 |
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| 119 |
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]
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| 120 |
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|
| 121 |
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},
|
| 122 |
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"grasp_8": {
|
| 123 |
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"confidence": 0.9512734413146973,
|
| 124 |
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"position": [
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| 127 |
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|
| 128 |
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| 129 |
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"orientation": {
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| 131 |
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| 137 |
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"grasp_9": {
|
| 139 |
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| 153 |
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},
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|
| 155 |
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"confidence": 0.9497462511062622,
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"position": [
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|
| 171 |
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"confidence": 0.9481909275054932,
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"position": [
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"orientation": {
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"grasp_12": {
|
| 187 |
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"confidence": 0.9478371143341064,
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"position": [
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"orientation": {
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|
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"grasp_13": {
|
| 203 |
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"confidence": 0.9472638964653015,
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"position": [
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| 223 |
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-0.03458865452557802
|
| 224 |
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],
|
| 225 |
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"orientation": {
|
| 226 |
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"w": 0.7032666022348586,
|
| 227 |
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"xyz": [
|
| 228 |
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-0.7066431043886712,
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| 229 |
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0.050375645939571,
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| 230 |
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-0.05944664412016754
|
| 231 |
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]
|
| 232 |
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}
|
| 233 |
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},
|
| 234 |
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"grasp_15": {
|
| 235 |
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"confidence": 0.945906937122345,
|
| 236 |
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"position": [
|
| 237 |
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-0.05816520313965157,
|
| 238 |
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-0.06514020901522599,
|
| 239 |
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-0.09618119616061449
|
| 240 |
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],
|
| 241 |
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"orientation": {
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| 242 |
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"w": 0.34230018951702673,
|
| 243 |
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"xyz": [
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| 244 |
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0.17127601935191125,
|
| 245 |
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0.4592107685851816,
|
| 246 |
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0.8016361864754971
|
| 247 |
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]
|
| 248 |
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}
|
| 249 |
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},
|
| 250 |
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"grasp_17": {
|
| 251 |
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"confidence": 0.9443101286888123,
|
| 252 |
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"position": [
|
| 253 |
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-0.03291178058134392,
|
| 254 |
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-0.09718442600569688,
|
| 255 |
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-0.02611988876014948
|
| 256 |
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],
|
| 257 |
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"orientation": {
|
| 258 |
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"w": 0.13831446998082214,
|
| 259 |
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"xyz": [
|
| 260 |
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0.11494819673397781,
|
| 261 |
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0.7048413002952316,
|
| 262 |
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0.6861885752908294
|
| 263 |
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]
|
| 264 |
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}
|
| 265 |
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},
|
| 266 |
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"grasp_19": {
|
| 267 |
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"confidence": 0.9439839720726013,
|
| 268 |
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"position": [
|
| 269 |
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0.02564518031431362,
|
| 270 |
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0.07943092394270934,
|
| 271 |
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-0.10647824127227068
|
| 272 |
+
],
|
| 273 |
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"orientation": {
|
| 274 |
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"w": 0.16857540123231982,
|
| 275 |
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"xyz": [
|
| 276 |
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-0.07312094780956149,
|
| 277 |
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-0.43851168047392464,
|
| 278 |
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0.8797403976052981
|
| 279 |
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]
|
| 280 |
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}
|
| 281 |
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}
|
| 282 |
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}
|
| 283 |
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},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "bottom insert",
|
| 286 |
+
"mask_color": "Navy",
|
| 287 |
+
"graspable": false,
|
| 288 |
+
"grasp_scenarios": [],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"seal the bottom opening",
|
| 291 |
+
"retain internal mechanism",
|
| 292 |
+
"provide bottom surface detail"
|
| 293 |
+
],
|
| 294 |
+
"semantic_description": "Circular white-to-off-white insert recessed in the underside, appearing as a hard smooth plastic ring and center disk with slight discoloration around the edge.",
|
| 295 |
+
"id": 13,
|
| 296 |
+
"grasp_group": {}
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"part_name": "printed labels and top cap pad",
|
| 300 |
+
"mask_color": "Brown",
|
| 301 |
+
"graspable": false,
|
| 302 |
+
"grasp_scenarios": [],
|
| 303 |
+
"functional_labels": [
|
| 304 |
+
"display branding and product information",
|
| 305 |
+
"provide visual identification",
|
| 306 |
+
"form a small molded top end pad"
|
| 307 |
+
],
|
| 308 |
+
"semantic_description": "Brown-tan masked details consisting of red printed branding/text areas on the white barrel sides and a small light beige rounded-rectangular molded pad on the top face.",
|
| 309 |
+
"id": 11,
|
| 310 |
+
"grasp_group": {}
|
| 311 |
+
}
|
| 312 |
+
],
|
| 313 |
+
"quality_check": {
|
| 314 |
+
"success": false,
|
| 315 |
+
"message": "Pink part includes cap and barrel; brown mask is printed text plus top grip, not top cap pad."
|
| 316 |
+
}
|
| 317 |
+
}
|
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:649b2c3675cf1af4786ac54f382ee41aa20f8ad823a3d713397a340504f99dd7
|
| 3 |
+
size 3800692
|
dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/glue_stick_033.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|