Add asset desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/affordance_annot.json +381 -0
- dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/sharpener_011.urdf +4 -3
.gitattributes
CHANGED
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@@ -6457,4 +6457,4 @@ dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/affo
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| 6457 |
dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6458 |
dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6459 |
dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6460 |
-
dataset/desktop_supplies/office_stationery/
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| 6457 |
dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6458 |
dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6459 |
dataset/desktop_supplies/office_stationery/ac4d98c52f1a59248e88bc3eca24253a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6460 |
+
dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Violet",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and twisting a pencil",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "reorient the sharpener by clamping the body during placement",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the sharpener mechanism",
|
| 24 |
+
"support all other parts",
|
| 25 |
+
"stabilize during sharpening"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The main housing is a small paw-shaped orange plastic shell with a glossy smooth hard surface, rounded edges, and colorful printed lettering on the front, forming most of the object's size and volume.",
|
| 28 |
+
"id": 20,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9708322286605835,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.6971108906613018,
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| 39 |
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"xyz": [
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| 42 |
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| 43 |
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]
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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": 0.9705771207809448,
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| 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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],
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"orientation": {
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"w": 0.7012769438854665,
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"xyz": [
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
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| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9699947834014893,
|
| 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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| 69 |
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"orientation": {
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| 70 |
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"w": 0.6952561397631107,
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| 71 |
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"xyz": [
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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_3": {
|
| 79 |
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"confidence": 0.9681262969970703,
|
| 80 |
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"position": [
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| 83 |
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| 84 |
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],
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| 85 |
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"orientation": {
|
| 86 |
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"w": 0.6949750086505561,
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| 87 |
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"xyz": [
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| 90 |
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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": 0.9664353728294373,
|
| 96 |
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"position": [
|
| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
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"w": 0.49047851384420704,
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| 103 |
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"xyz": [
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]
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|
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},
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| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9660944938659668,
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"orientation": {
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| 123 |
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]
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}
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| 125 |
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},
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"grasp_6": {
|
| 127 |
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"confidence": 0.9659901261329651,
|
| 128 |
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],
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"orientation": {
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| 139 |
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]
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}
|
| 141 |
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},
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"grasp_7": {
|
| 143 |
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"confidence": 0.9642611145973206,
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"position": [
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],
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"orientation": {
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},
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"grasp_8": {
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| 159 |
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"confidence": 0.9632180333137512,
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],
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"orientation": {
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]
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}
|
| 173 |
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},
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"grasp_9": {
|
| 175 |
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"confidence": 0.9627854228019714,
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"position": [
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],
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"orientation": {
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},
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"grasp_10": {
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| 191 |
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"confidence": 0.9625678062438965,
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|
| 301 |
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| 302 |
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|
| 303 |
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| 304 |
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]
|
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}
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| 317 |
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},
|
| 318 |
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"grasp_19": {
|
| 319 |
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"confidence": 0.9608103036880493,
|
| 320 |
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| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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],
|
| 325 |
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"orientation": {
|
| 326 |
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"w": 0.7051414015356988,
|
| 327 |
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"xyz": [
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| 328 |
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0.7088829405565993,
|
| 329 |
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0.013289659893147676,
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| 330 |
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|
| 331 |
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]
|
| 332 |
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}
|
| 333 |
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}
|
| 334 |
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}
|
| 335 |
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},
|
| 336 |
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{
|
| 337 |
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"part_name": "paw pad insets and front lower panel",
|
| 338 |
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"mask_color": "Lawn Green",
|
| 339 |
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"graspable": false,
|
| 340 |
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"grasp_scenarios": [],
|
| 341 |
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"functional_labels": [
|
| 342 |
+
"provide decorative paw-pad styling",
|
| 343 |
+
"add visual contrast",
|
| 344 |
+
"form the contrasting lower front panel of the shavings container"
|
| 345 |
+
],
|
| 346 |
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"semantic_description": "This mask covers the light cream to pale pink glossy inserts: the large central paw pad, the smaller toe pads near the top, and the contrasting lower front panel/reservoir section on the body.",
|
| 347 |
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"id": 24,
|
| 348 |
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"grasp_group": {}
|
| 349 |
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},
|
| 350 |
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{
|
| 351 |
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"part_name": "front printed lettering",
|
| 352 |
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"mask_color": "Burnt Orange",
|
| 353 |
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"graspable": false,
|
| 354 |
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"grasp_scenarios": [],
|
| 355 |
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"functional_labels": [
|
| 356 |
+
"display branding or decoration",
|
| 357 |
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"add visual identification on the front"
|
| 358 |
+
],
|
| 359 |
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"semantic_description": "Small raised colorful front letters on the orange body spell out a playful wordmark, with glossy multicolored plastic characters located above the lower front panel.",
|
| 360 |
+
"id": 18,
|
| 361 |
+
"grasp_group": {}
|
| 362 |
+
},
|
| 363 |
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{
|
| 364 |
+
"part_name": "side panel insert",
|
| 365 |
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"mask_color": "Jade",
|
| 366 |
+
"graspable": false,
|
| 367 |
+
"grasp_scenarios": [],
|
| 368 |
+
"functional_labels": [
|
| 369 |
+
"provide decorative side detail",
|
| 370 |
+
"cover a small side area of the body"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "A small turquoise rectangular insert appears on one side of the orange body, with a smooth flat surface and glossy finish.",
|
| 373 |
+
"id": 19,
|
| 374 |
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"grasp_group": {}
|
| 375 |
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}
|
| 376 |
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],
|
| 377 |
+
"quality_check": {
|
| 378 |
+
"success": false,
|
| 379 |
+
"message": "Several parts mismatch masks/descriptions; lettering color and lower panel function are incorrect, and side insert description mismatches visible part."
|
| 380 |
+
}
|
| 381 |
+
}
|
dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b240268a2480aa6adca022e74c55af9bb50285c83221806482d6f27ba6d70c37
|
| 3 |
+
size 3827856
|
dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/sharpener_011.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>NO:
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>5</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>NO: {"summary":"Mask merges blade area with graphics and misses clear functional housing/body split.","merge_groups":[{"colors":["Burnt Orange","Lawn Green"],"target_part":"decorative graphics/nonfunctional markings","reason":"Both are printed text/logo details, not separate parts"}]}</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|