Add asset desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/affordance_annot.json +395 -0
- dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/eraser_036.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8178,3 +8178,4 @@ dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/affo
|
|
| 8178 |
dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8179 |
dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8180 |
dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8178 |
dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8179 |
dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8180 |
dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8181 |
+
dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,395 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main eraser body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the eraser",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the eraser while rubbing on paper",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the eraser by grasping the body to use a different edge or corner",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary gripping surface",
|
| 23 |
+
"main structural mass of the eraser",
|
| 24 |
+
"erase pencil marks",
|
| 25 |
+
"provide broad and edge contact surfaces for rubbing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large dark blue eraser body with a matte smooth surface, rounded rectangular block shape with softened edges, and white printed branding/graphic on some faces.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_22": {
|
| 31 |
+
"confidence": 0.8925883769989014,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.003083317732489377,
|
| 34 |
+
0.10263582871994004,
|
| 35 |
+
-0.0001380035828333348
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5130713204622233,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5147501742712415,
|
| 41 |
+
-0.4793917421892211,
|
| 42 |
+
0.4919081578177582
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_24": {
|
| 47 |
+
"confidence": 0.8915831446647644,
|
| 48 |
+
"position": [
|
| 49 |
+
0.036621018819460005,
|
| 50 |
+
0.09402858273824677,
|
| 51 |
+
-0.015551880263956264
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6841676420853369,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.4248991321252294,
|
| 57 |
+
-0.49615193196160756,
|
| 58 |
+
0.3243587912380082
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_25": {
|
| 63 |
+
"confidence": 0.8910732269287109,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.00026611580960889114,
|
| 66 |
+
0.10428377793869004,
|
| 67 |
+
0.0001569512241985649
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.42894216109335537,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.43286924440928404,
|
| 73 |
+
0.5696423715678591,
|
| 74 |
+
-0.5514892638988024
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_26": {
|
| 79 |
+
"confidence": 0.8908699750900269,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0033071769457819755,
|
| 82 |
+
0.10190295981010422,
|
| 83 |
+
-0.006343531218590215
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.4609863590017683,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.44641352097324666,
|
| 89 |
+
0.5456226762335256,
|
| 90 |
+
-0.5389827829219841
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_27": {
|
| 95 |
+
"confidence": 0.8905982375144958,
|
| 96 |
+
"position": [
|
| 97 |
+
0.04370166691387567,
|
| 98 |
+
0.095158135460224,
|
| 99 |
+
0.002834407117916271
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5876276433168434,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.37067833823798196,
|
| 105 |
+
-0.6120814608803833,
|
| 106 |
+
0.3776871822256573
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_28": {
|
| 111 |
+
"confidence": 0.890291154384613,
|
| 112 |
+
"position": [
|
| 113 |
+
0.04436055528367433,
|
| 114 |
+
0.09393726842245087,
|
| 115 |
+
-0.00280584700522013
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6137455689167304,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.3799710882163736,
|
| 121 |
+
-0.5865588873003654,
|
| 122 |
+
0.36726968358918566
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_29": {
|
| 127 |
+
"confidence": 0.88974928855896,
|
| 128 |
+
"position": [
|
| 129 |
+
0.07894717486942682,
|
| 130 |
+
0.06310696707805619,
|
| 131 |
+
0.00214755508932285
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.6646871506916119,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.2058193460492517,
|
| 137 |
+
-0.6853627601977584,
|
| 138 |
+
0.21472604739862142
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_30": {
|
| 143 |
+
"confidence": 0.8892152905464172,
|
| 144 |
+
"position": [
|
| 145 |
+
0.08001420231903467,
|
| 146 |
+
0.05961347551783547,
|
| 147 |
+
-0.0014597468834836036
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.685182672877421,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.21233295649798628,
|
| 153 |
+
-0.6669507955716388,
|
| 154 |
+
0.20153425678959727
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_32": {
|
| 159 |
+
"confidence": 0.888809859752655,
|
| 160 |
+
"position": [
|
| 161 |
+
0.0009145936755885486,
|
| 162 |
+
0.10405867354711518,
|
| 163 |
+
-0.0007532236340921372
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.4990785784614182,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.5038967486876078,
|
| 169 |
+
-0.49787759930228914,
|
| 170 |
+
0.4991257710196672
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_35": {
|
| 175 |
+
"confidence": 0.8883665204048157,
|
| 176 |
+
"position": [
|
| 177 |
+
0.07832151236380014,
|
| 178 |
+
0.0689512919052504,
|
| 179 |
+
-0.004592526500346139
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.6836537792439884,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.22471449254526352,
|
| 185 |
+
-0.6573789033638889,
|
| 186 |
+
0.22354839381580854
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_37": {
|
| 191 |
+
"confidence": 0.8879336714744568,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.004566248931041628,
|
| 194 |
+
0.10353679762920365,
|
| 195 |
+
-0.0032212119840551168
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.47454307925516426,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.4609859275483652,
|
| 201 |
+
0.5368049141499874,
|
| 202 |
+
-0.5235850691891666
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_38": {
|
| 207 |
+
"confidence": 0.8874032497406006,
|
| 208 |
+
"position": [
|
| 209 |
+
0.0006109960204412346,
|
| 210 |
+
0.1010054181679152,
|
| 211 |
+
-0.00018504953914089128
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5109270671235109,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.5209166874190257,
|
| 217 |
+
-0.4833576297506015,
|
| 218 |
+
0.483699016549379
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_39": {
|
| 223 |
+
"confidence": 0.8873171806335449,
|
| 224 |
+
"position": [
|
| 225 |
+
0.07576261045778665,
|
| 226 |
+
0.06274050282081589,
|
| 227 |
+
-0.013034523726673797
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.719125717805603,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.21976268654861608,
|
| 233 |
+
-0.6248592756428524,
|
| 234 |
+
0.21003201954607006
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "slanted end section",
|
| 242 |
+
"mask_color": "Red",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "pinch the end section to pick up the eraser when convenient",
|
| 247 |
+
"confidence": 0.55
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "grasp the end section briefly to reorient the eraser for using a fresh corner",
|
| 251 |
+
"confidence": 0.48
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"functional_labels": [
|
| 255 |
+
"provide an alternate gripping end",
|
| 256 |
+
"offer a distinct end for orientation",
|
| 257 |
+
"form a tapered end profile"
|
| 258 |
+
],
|
| 259 |
+
"semantic_description": "Small dark blue slanted end section matching the main body color and finish, with a smooth matte surface and trapezoidal wedge-like shape at one end of the eraser.",
|
| 260 |
+
"id": 0,
|
| 261 |
+
"grasp_group": {
|
| 262 |
+
"grasp_0": {
|
| 263 |
+
"confidence": 0.5485609769821167,
|
| 264 |
+
"position": [
|
| 265 |
+
-0.08287714836751547,
|
| 266 |
+
-0.06969560874858871,
|
| 267 |
+
-0.01823519662139006
|
| 268 |
+
],
|
| 269 |
+
"orientation": {
|
| 270 |
+
"w": 0.1943042550233196,
|
| 271 |
+
"xyz": [
|
| 272 |
+
-0.6205653453652936,
|
| 273 |
+
-0.197678559899355,
|
| 274 |
+
-0.733530977919545
|
| 275 |
+
]
|
| 276 |
+
}
|
| 277 |
+
},
|
| 278 |
+
"grasp_1": {
|
| 279 |
+
"confidence": 0.4829435646533966,
|
| 280 |
+
"position": [
|
| 281 |
+
0.08151640328014764,
|
| 282 |
+
0.032225800619926304,
|
| 283 |
+
0.012165985739557073
|
| 284 |
+
],
|
| 285 |
+
"orientation": {
|
| 286 |
+
"w": 0.6290797807703956,
|
| 287 |
+
"xyz": [
|
| 288 |
+
0.19367364595777467,
|
| 289 |
+
-0.733630359077654,
|
| 290 |
+
0.1689249671507639
|
| 291 |
+
]
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"grasp_2": {
|
| 295 |
+
"confidence": 0.4312741458415985,
|
| 296 |
+
"position": [
|
| 297 |
+
-0.07359027532493201,
|
| 298 |
+
-0.06873779935995117,
|
| 299 |
+
0.03560066476347856
|
| 300 |
+
],
|
| 301 |
+
"orientation": {
|
| 302 |
+
"w": 0.5243364904241589,
|
| 303 |
+
"xyz": [
|
| 304 |
+
-0.1500356723969799,
|
| 305 |
+
0.8044527373665559,
|
| 306 |
+
0.23540674408673584
|
| 307 |
+
]
|
| 308 |
+
}
|
| 309 |
+
},
|
| 310 |
+
"grasp_8": {
|
| 311 |
+
"confidence": 0.407971054315567,
|
| 312 |
+
"position": [
|
| 313 |
+
-0.08720975039159384,
|
| 314 |
+
-0.07149695052066818,
|
| 315 |
+
-0.02452135577914305
|
| 316 |
+
],
|
| 317 |
+
"orientation": {
|
| 318 |
+
"w": 0.2098510452213525,
|
| 319 |
+
"xyz": [
|
| 320 |
+
-0.6060965628614837,
|
| 321 |
+
-0.18533390569214114,
|
| 322 |
+
-0.7444869634237378
|
| 323 |
+
]
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"grasp_9": {
|
| 327 |
+
"confidence": 0.33443689346313477,
|
| 328 |
+
"position": [
|
| 329 |
+
0.09163298042858514,
|
| 330 |
+
0.030803846137132496,
|
| 331 |
+
0.012238233088282868
|
| 332 |
+
],
|
| 333 |
+
"orientation": {
|
| 334 |
+
"w": 0.20514939777964436,
|
| 335 |
+
"xyz": [
|
| 336 |
+
0.732945540306388,
|
| 337 |
+
0.12826948389546255,
|
| 338 |
+
-0.6358077532059654
|
| 339 |
+
]
|
| 340 |
+
}
|
| 341 |
+
},
|
| 342 |
+
"grasp_16": {
|
| 343 |
+
"confidence": 0.6339176297187805,
|
| 344 |
+
"position": [
|
| 345 |
+
-0.039368674583784014,
|
| 346 |
+
-0.10260878695407882,
|
| 347 |
+
-0.015129733161302283
|
| 348 |
+
],
|
| 349 |
+
"orientation": {
|
| 350 |
+
"w": 0.6440473407131995,
|
| 351 |
+
"xyz": [
|
| 352 |
+
-0.3888795162430329,
|
| 353 |
+
0.5455219652335164,
|
| 354 |
+
0.3692987005319712
|
| 355 |
+
]
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"grasp_19": {
|
| 359 |
+
"confidence": 0.4320124089717865,
|
| 360 |
+
"position": [
|
| 361 |
+
0.08678457470978174,
|
| 362 |
+
0.034414777474012226,
|
| 363 |
+
0.014376161358086392
|
| 364 |
+
],
|
| 365 |
+
"orientation": {
|
| 366 |
+
"w": 0.16570393799922634,
|
| 367 |
+
"xyz": [
|
| 368 |
+
0.7340424134832159,
|
| 369 |
+
0.20006666880018809,
|
| 370 |
+
-0.6274530007693645
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
}
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"part_name": "printed logo",
|
| 378 |
+
"mask_color": "Lime Green",
|
| 379 |
+
"graspable": false,
|
| 380 |
+
"grasp_scenarios": [],
|
| 381 |
+
"functional_labels": [
|
| 382 |
+
"brand marking",
|
| 383 |
+
"visual identification",
|
| 384 |
+
"orientation cue"
|
| 385 |
+
],
|
| 386 |
+
"semantic_description": "Small white printed insect-like logo on the top face with a flat ink-like appearance, serving as a decorative and identifying marking.",
|
| 387 |
+
"id": 9,
|
| 388 |
+
"grasp_group": {}
|
| 389 |
+
}
|
| 390 |
+
],
|
| 391 |
+
"quality_check": {
|
| 392 |
+
"success": true,
|
| 393 |
+
"message": "YES"
|
| 394 |
+
}
|
| 395 |
+
}
|
dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:781ee9499fc018d055d72f6f8cbd917a0ecbf1bb9d1ecf54d9da9908180bb275
|
| 3 |
+
size 3778008
|
dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/eraser_036.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>
|