Add asset desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/affordance_annot.json +919 -0
- dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.urdf +1 -0
.gitattributes
CHANGED
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@@ -6291,3 +6291,4 @@ dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/affo
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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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| 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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| 6294 |
+
dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,919 @@
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| 1 |
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{
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| 3 |
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| 5 |
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| 8 |
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{
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| 9 |
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| 10 |
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| 11 |
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},
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| 12 |
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{
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| 13 |
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"scenario": "grasp the barrel to stabilize the pen while placing it down or reorienting it",
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| 14 |
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| 15 |
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| 16 |
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],
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| 17 |
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"connect front tip and rear mechanism"
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| 22 |
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],
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| 23 |
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| 24 |
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}
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}
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},
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| 316 |
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{
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| 317 |
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| 321 |
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| 322 |
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"guide the writing point",
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| 323 |
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"protect and support the refill tip",
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"provide front-end precision"
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| 325 |
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],
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| 326 |
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"semantic_description": "Dark green tapered plastic cone at the writing end with a smooth finish, ending in a small exposed ballpoint tip.",
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},
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{
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"part_name": "rear body section",
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{
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| 336 |
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"scenario": "grasp the rear body section to pick up or reposition the pen",
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| 338 |
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},
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| 339 |
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{
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| 340 |
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"scenario": "hold the rear body section while pressing the click button with another finger or tool",
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}
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| 343 |
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],
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"provide secondary grasp area",
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"connect barrel to the click-end assembly"
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],
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"semantic_description": "Short dark green cylindrical plastic section at the rear of the pen with a smooth finish, thicker than the patterned barrel and located beneath the clip assembly.",
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],
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| 767 |
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"orientation": {
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| 768 |
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"w": 0.49514778488568095,
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}
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},
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| 777 |
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| 778 |
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"grasp_36": {
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| 793 |
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"confidence": 0.876132607460022,
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| 794 |
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| 795 |
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-0.02578975079813972,
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0.12393700727261603,
|
| 797 |
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0.06789052276872098
|
| 798 |
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"orientation": {
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| 800 |
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| 801 |
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| 802 |
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0.8898883509627423,
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| 805 |
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},
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"grasp_37": {
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| 809 |
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"confidence": 0.8397683501243591,
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| 810 |
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| 811 |
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0.10765300341881812,
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0.057968312641605735
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| 814 |
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],
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"orientation": {
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| 816 |
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"xyz": [
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| 818 |
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|
| 819 |
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0.866459612650424,
|
| 820 |
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|
| 821 |
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]
|
| 822 |
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}
|
| 823 |
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},
|
| 824 |
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"grasp_38": {
|
| 825 |
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"confidence": 0.8341240882873535,
|
| 826 |
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|
| 827 |
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0.024188293085899204,
|
| 828 |
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0.1169664824847132,
|
| 829 |
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0.06432838528417051
|
| 830 |
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],
|
| 831 |
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"orientation": {
|
| 832 |
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"w": 0.463902854685202,
|
| 833 |
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"xyz": [
|
| 834 |
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0.8751301541049457,
|
| 835 |
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|
| 836 |
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|
| 837 |
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|
| 838 |
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}
|
| 839 |
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},
|
| 840 |
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"grasp_39": {
|
| 841 |
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|
| 842 |
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|
| 844 |
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0.1297911370638758,
|
| 845 |
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0.058259946992620826
|
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],
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| 847 |
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"orientation": {
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"w": 0.1945333202205315,
|
| 849 |
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"xyz": [
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| 850 |
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|
| 851 |
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0.8599019175252868,
|
| 852 |
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|
| 853 |
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]
|
| 854 |
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}
|
| 855 |
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}
|
| 856 |
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}
|
| 857 |
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},
|
| 858 |
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{
|
| 859 |
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"part_name": "click button",
|
| 860 |
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"mask_color": "Green",
|
| 861 |
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"graspable": false,
|
| 862 |
+
"grasp_scenarios": [],
|
| 863 |
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"functional_labels": [
|
| 864 |
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"extend or retract the writing tip",
|
| 865 |
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"actuate the pen mechanism",
|
| 866 |
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"indicate rear end"
|
| 867 |
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],
|
| 868 |
+
"semantic_description": "Small rounded dark green rear button, likely plastic, with a smooth finish protruding from the back of the pen.",
|
| 869 |
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"id": 1,
|
| 870 |
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"grasp_group": {}
|
| 871 |
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},
|
| 872 |
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{
|
| 873 |
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"part_name": "clip base",
|
| 874 |
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"mask_color": "Red",
|
| 875 |
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"graspable": false,
|
| 876 |
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"grasp_scenarios": [],
|
| 877 |
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"functional_labels": [
|
| 878 |
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"anchor the clip",
|
| 879 |
+
"support clip attachment",
|
| 880 |
+
"reinforce the upper rear structure"
|
| 881 |
+
],
|
| 882 |
+
"semantic_description": "Narrow dark green strip-like base running beneath the metal clip on the rear section of the pen, integrated into the outer body.",
|
| 883 |
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"id": 0,
|
| 884 |
+
"grasp_group": {}
|
| 885 |
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},
|
| 886 |
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{
|
| 887 |
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"part_name": "rear ring",
|
| 888 |
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"mask_color": "Pink",
|
| 889 |
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"graspable": false,
|
| 890 |
+
"grasp_scenarios": [],
|
| 891 |
+
"functional_labels": [
|
| 892 |
+
"join adjacent pen sections",
|
| 893 |
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"finish the transition to the button",
|
| 894 |
+
"retain mechanism alignment"
|
| 895 |
+
],
|
| 896 |
+
"semantic_description": "Very small light-colored ring at the back end, appearing as a smooth plastic collar between the rear body and the push button.",
|
| 897 |
+
"id": 8,
|
| 898 |
+
"grasp_group": {}
|
| 899 |
+
},
|
| 900 |
+
{
|
| 901 |
+
"part_name": "section ring",
|
| 902 |
+
"mask_color": "Orange",
|
| 903 |
+
"graspable": false,
|
| 904 |
+
"grasp_scenarios": [],
|
| 905 |
+
"functional_labels": [
|
| 906 |
+
"join barrel and rear body section",
|
| 907 |
+
"provide structural transition",
|
| 908 |
+
"visually separate pen sections"
|
| 909 |
+
],
|
| 910 |
+
"semantic_description": "Slim light-colored circular band with a smooth glossy finish wrapped around the pen where the patterned barrel meets the dark green rear body section.",
|
| 911 |
+
"id": 4,
|
| 912 |
+
"grasp_group": {}
|
| 913 |
+
}
|
| 914 |
+
],
|
| 915 |
+
"quality_check": {
|
| 916 |
+
"success": true,
|
| 917 |
+
"message": "YES"
|
| 918 |
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}
|
| 919 |
+
}
|
dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6fffa96a7f9054d74c0feec9e998ece9e455a0741584196e1a4b42c510eb0d61
|
| 3 |
+
size 3786144
|
dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.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>
|