Add asset desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/affordance_annot.json +931 -0
- dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.urdf +1 -0
.gitattributes
CHANGED
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@@ -8159,3 +8159,4 @@ dataset/desktop_supplies/office_stationery/0017d520d50856389f512d1d237d9a29/affo
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| 8159 |
dataset/desktop_supplies/office_stationery/006f0a6a196e5cf0b6ba542e4c8ee97f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8160 |
dataset/desktop_supplies/office_stationery/0088c59d02775ddf944da4413584185d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8161 |
dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8159 |
dataset/desktop_supplies/office_stationery/006f0a6a196e5cf0b6ba542e4c8ee97f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8160 |
dataset/desktop_supplies/office_stationery/0088c59d02775ddf944da4413584185d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8161 |
dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8162 |
+
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,931 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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},
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| 16 |
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{
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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"cover the upper stapling mechanism",
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| 24 |
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| 25 |
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"serve as the primary grasp surface"
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| 26 |
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],
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 32 |
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"confidence": 0.83
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},
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{
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"scenario": "hold the base to stabilize the stapler while opening the top arm",
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"confidence": 0.88
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},
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{
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"scenario": "clamp the base for fixture-style handling during paper insertion",
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}
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],
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"support the stapler on a desk",
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"stabilize during stapling",
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"provide the lower contact surface",
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"serve as a secondary grasp surface"
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],
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"semantic_description": "Broad gray rubber-like bottom pad with rounded rectangular shape, smooth matte appearance, and a larger footprint than the upper body.",
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}
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},
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{
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"part_name": "lower body frame",
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{
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"scenario": "grasp the side frame area to lift the stapler when side access is available",
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},
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{
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"scenario": "hold the lower frame to steady the stapler while pressing the top handle",
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}
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],
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"functional_labels": [
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"connect the upper handle to the base",
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"support the staple magazine area",
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"guide the moving top arm",
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"support the front mechanism"
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],
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"semantic_description": "White plastic lower side frame between the top handle and the gray base pad, with a smooth hard finish and wedge-like side profile visible along the stapler body.",
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},
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},
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0.1267769210971892,
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0.678440334324223,
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0.0188158697513372,
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}
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}
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},
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| 710 |
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{
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"improve pressing comfort",
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"increase finger traction",
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| 718 |
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"mark the press location"
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| 719 |
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],
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"semantic_description": "Small translucent frosted finger pad on the rear top area of the handle, slightly raised and rectangular with a subtly ribbed surface.",
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},
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{
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"part_name": "rear end section of top handle",
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| 728 |
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"form the back end of the top handle",
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"provide rear structural enclosure",
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"finish the rear edge of the handle"
|
| 733 |
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],
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| 734 |
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"semantic_description": "White plastic rear end portion of the top handle surrounding the back corner, matching the main shell with a smooth semi-gloss finish.",
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},
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{
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"part_name": "front driver block",
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|
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"form part of the front stapling mechanism",
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| 745 |
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"support force transfer at the nose",
|
| 746 |
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"align the front moving mechanism"
|
| 747 |
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],
|
| 748 |
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"semantic_description": "Small metallic-looking front internal block near the stapling nose, compact and rectangular, visible beneath the front of the top handle.",
|
| 749 |
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|
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| 751 |
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},
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{
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"part_name": "staple magazine",
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|
| 755 |
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|
| 756 |
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| 757 |
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{
|
| 758 |
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"scenario": "pull or hold the magazine area during opening or reloading access",
|
| 759 |
+
"confidence": 0.31
|
| 760 |
+
}
|
| 761 |
+
],
|
| 762 |
+
"functional_labels": [
|
| 763 |
+
"hold the staple strip",
|
| 764 |
+
"guide staples forward",
|
| 765 |
+
"align staples toward the front mechanism"
|
| 766 |
+
],
|
| 767 |
+
"semantic_description": "Slim internal magazine or channel element visible inside the body, appearing as a narrow linear structural strip beneath the top handle.",
|
| 768 |
+
"id": 1,
|
| 769 |
+
"grasp_group": {
|
| 770 |
+
"grasp_20": {
|
| 771 |
+
"confidence": 0.8433721661567688,
|
| 772 |
+
"position": [
|
| 773 |
+
0.0006241719747777097,
|
| 774 |
+
-0.1359353712759912,
|
| 775 |
+
-0.010534594999626279
|
| 776 |
+
],
|
| 777 |
+
"orientation": {
|
| 778 |
+
"w": 0.6978128415024184,
|
| 779 |
+
"xyz": [
|
| 780 |
+
-0.715937247407866,
|
| 781 |
+
-0.02000947447918555,
|
| 782 |
+
-0.009524544053941883
|
| 783 |
+
]
|
| 784 |
+
}
|
| 785 |
+
},
|
| 786 |
+
"grasp_23": {
|
| 787 |
+
"confidence": 0.8305964469909668,
|
| 788 |
+
"position": [
|
| 789 |
+
-0.025274644380260725,
|
| 790 |
+
-0.11928913509473205,
|
| 791 |
+
-0.05168509972281754
|
| 792 |
+
],
|
| 793 |
+
"orientation": {
|
| 794 |
+
"w": 0.8390317897182759,
|
| 795 |
+
"xyz": [
|
| 796 |
+
-0.5291683349826212,
|
| 797 |
+
0.10007133166267335,
|
| 798 |
+
-0.07740967428639822
|
| 799 |
+
]
|
| 800 |
+
}
|
| 801 |
+
},
|
| 802 |
+
"grasp_26": {
|
| 803 |
+
"confidence": 0.921887993812561,
|
| 804 |
+
"position": [
|
| 805 |
+
-0.0006292514808592387,
|
| 806 |
+
-0.0405839248560369,
|
| 807 |
+
-0.10562607389874756
|
| 808 |
+
],
|
| 809 |
+
"orientation": {
|
| 810 |
+
"w": 0.9980010214263978,
|
| 811 |
+
"xyz": [
|
| 812 |
+
-0.06270496243427283,
|
| 813 |
+
0.0075993413769629425,
|
| 814 |
+
0.002073385786530725
|
| 815 |
+
]
|
| 816 |
+
}
|
| 817 |
+
},
|
| 818 |
+
"grasp_27": {
|
| 819 |
+
"confidence": 0.8985916972160339,
|
| 820 |
+
"position": [
|
| 821 |
+
0.005127818549226504,
|
| 822 |
+
-0.08543224399909377,
|
| 823 |
+
-0.0883845139760524
|
| 824 |
+
],
|
| 825 |
+
"orientation": {
|
| 826 |
+
"w": 0.010126341020175428,
|
| 827 |
+
"xyz": [
|
| 828 |
+
-0.01934015156541113,
|
| 829 |
+
0.28172082971702994,
|
| 830 |
+
0.9592480335442539
|
| 831 |
+
]
|
| 832 |
+
}
|
| 833 |
+
},
|
| 834 |
+
"grasp_30": {
|
| 835 |
+
"confidence": 0.8557520508766174,
|
| 836 |
+
"position": [
|
| 837 |
+
0.012390093172143679,
|
| 838 |
+
-0.1200206852518022,
|
| 839 |
+
-0.052524057449772954
|
| 840 |
+
],
|
| 841 |
+
"orientation": {
|
| 842 |
+
"w": 0.8516387565063106,
|
| 843 |
+
"xyz": [
|
| 844 |
+
-0.5215279260222041,
|
| 845 |
+
-0.04999775840950782,
|
| 846 |
+
-0.014841662622122028
|
| 847 |
+
]
|
| 848 |
+
}
|
| 849 |
+
},
|
| 850 |
+
"grasp_33": {
|
| 851 |
+
"confidence": 0.820652186870575,
|
| 852 |
+
"position": [
|
| 853 |
+
0.008431405054579955,
|
| 854 |
+
-0.13588320231065154,
|
| 855 |
+
-0.016183417523279786
|
| 856 |
+
],
|
| 857 |
+
"orientation": {
|
| 858 |
+
"w": 0.7183696952805241,
|
| 859 |
+
"xyz": [
|
| 860 |
+
-0.6947385169927801,
|
| 861 |
+
-0.020543595336223186,
|
| 862 |
+
0.029348502515472052
|
| 863 |
+
]
|
| 864 |
+
}
|
| 865 |
+
},
|
| 866 |
+
"grasp_37": {
|
| 867 |
+
"confidence": 0.6698338389396667,
|
| 868 |
+
"position": [
|
| 869 |
+
-0.025491359418083448,
|
| 870 |
+
-0.0972989252768457,
|
| 871 |
+
-0.07058538240380585
|
| 872 |
+
],
|
| 873 |
+
"orientation": {
|
| 874 |
+
"w": 0.12210062946924267,
|
| 875 |
+
"xyz": [
|
| 876 |
+
0.09752744355319512,
|
| 877 |
+
0.42163034705682767,
|
| 878 |
+
0.893200808596775
|
| 879 |
+
]
|
| 880 |
+
}
|
| 881 |
+
}
|
| 882 |
+
}
|
| 883 |
+
},
|
| 884 |
+
{
|
| 885 |
+
"part_name": "front linkage",
|
| 886 |
+
"mask_color": "Pink",
|
| 887 |
+
"graspable": false,
|
| 888 |
+
"grasp_scenarios": [],
|
| 889 |
+
"functional_labels": [
|
| 890 |
+
"connect front moving parts",
|
| 891 |
+
"transmit motion in the nose area",
|
| 892 |
+
"support opening and closing alignment"
|
| 893 |
+
],
|
| 894 |
+
"semantic_description": "Tiny internal connector near the front mechanism, appearing as a small compact rigid piece recessed inside the stapler.",
|
| 895 |
+
"id": 8,
|
| 896 |
+
"grasp_group": {}
|
| 897 |
+
},
|
| 898 |
+
{
|
| 899 |
+
"part_name": "inner nose support",
|
| 900 |
+
"mask_color": "Teal",
|
| 901 |
+
"graspable": false,
|
| 902 |
+
"grasp_scenarios": [],
|
| 903 |
+
"functional_labels": [
|
| 904 |
+
"support the front mechanism",
|
| 905 |
+
"maintain alignment near the stapling tip",
|
| 906 |
+
"connect internal components"
|
| 907 |
+
],
|
| 908 |
+
"semantic_description": "Small internal support piece near the front tip, appearing as a short upright rigid element with smooth surfaces.",
|
| 909 |
+
"id": 10,
|
| 910 |
+
"grasp_group": {}
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"part_name": "side plate",
|
| 914 |
+
"mask_color": "Navy",
|
| 915 |
+
"graspable": false,
|
| 916 |
+
"grasp_scenarios": [],
|
| 917 |
+
"functional_labels": [
|
| 918 |
+
"cover a mechanism edge",
|
| 919 |
+
"retain internal parts",
|
| 920 |
+
"stiffen the front assembly"
|
| 921 |
+
],
|
| 922 |
+
"semantic_description": "Thin dark side element visible as a narrow strip along the inner front side of the stapler, likely metal with a smooth finish.",
|
| 923 |
+
"id": 13,
|
| 924 |
+
"grasp_group": {}
|
| 925 |
+
}
|
| 926 |
+
],
|
| 927 |
+
"quality_check": {
|
| 928 |
+
"success": false,
|
| 929 |
+
"message": "Several mask parts are misidentified and visual descriptions mismatch colors/materials; base and rear pad descriptions are clearly incorrect."
|
| 930 |
+
}
|
| 931 |
+
}
|
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba8ed288570b8a271bd39ada4978e8c7318a9527b0c5e01d2fca586ba88e0ffc
|
| 3 |
+
size 3799080
|
dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.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>
|