Add asset desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/affordance_annot.json +416 -0
- dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.urdf +1 -0
.gitattributes
CHANGED
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@@ -6139,4 +6139,4 @@ dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/affordance
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| 6139 |
dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6140 |
dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6141 |
dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6142 |
-
dataset/desktop_supplies/decorations/
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| 6139 |
dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6140 |
dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6141 |
dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6142 |
+
dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,416 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the round weighted base to pick up and reposition the stand",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the stand while adjusting the phone support angle",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the stand on a surface",
|
| 19 |
+
"provide stability",
|
| 20 |
+
"anchor the upper mechanism"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Large round black base with a matte to satin finish, smooth surface, and broad low-profile shape at the bottom of the stand.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.8683176040649414,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.05229758654604666,
|
| 29 |
+
0.07956212537828833,
|
| 30 |
+
0.05814902548445389
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.4633275241178795,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.8514017353006272,
|
| 36 |
+
0.15982782195421164,
|
| 37 |
+
0.18680941585275904
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"part_name": "phone support panel",
|
| 45 |
+
"mask_color": "Cyan",
|
| 46 |
+
"graspable": true,
|
| 47 |
+
"grasp_scenarios": [
|
| 48 |
+
{
|
| 49 |
+
"scenario": "grasp the phone support panel to move or reposition the stand",
|
| 50 |
+
"confidence": 0.62
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"scenario": "hold the panel while folding or unfolding the stand",
|
| 54 |
+
"confidence": 0.58
|
| 55 |
+
}
|
| 56 |
+
],
|
| 57 |
+
"functional_labels": [
|
| 58 |
+
"support the phone back",
|
| 59 |
+
"present the phone at a viewing angle",
|
| 60 |
+
"provide the main device contact surface",
|
| 61 |
+
"position the device"
|
| 62 |
+
],
|
| 63 |
+
"semantic_description": "Rectangular translucent light-green support panel with rounded corners, a smooth glossy face, and two lower retaining hooks at the front.",
|
| 64 |
+
"id": 6,
|
| 65 |
+
"grasp_group": {
|
| 66 |
+
"grasp_21": {
|
| 67 |
+
"confidence": 0.984717071056366,
|
| 68 |
+
"position": [
|
| 69 |
+
0.0358302574895788,
|
| 70 |
+
0.042578773223795,
|
| 71 |
+
0.13830186863197014
|
| 72 |
+
],
|
| 73 |
+
"orientation": {
|
| 74 |
+
"w": 0.25598707582872865,
|
| 75 |
+
"xyz": [
|
| 76 |
+
0.6654163808921364,
|
| 77 |
+
-0.7010721207792792,
|
| 78 |
+
0.013767298758723307
|
| 79 |
+
]
|
| 80 |
+
}
|
| 81 |
+
},
|
| 82 |
+
"grasp_22": {
|
| 83 |
+
"confidence": 0.9845094084739685,
|
| 84 |
+
"position": [
|
| 85 |
+
0.04946245442260988,
|
| 86 |
+
0.036367145949043334,
|
| 87 |
+
0.13611022074474022
|
| 88 |
+
],
|
| 89 |
+
"orientation": {
|
| 90 |
+
"w": 0.2916841708340028,
|
| 91 |
+
"xyz": [
|
| 92 |
+
0.6105977122289048,
|
| 93 |
+
-0.7351390928584937,
|
| 94 |
+
-0.04075895554229144
|
| 95 |
+
]
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"grasp_23": {
|
| 99 |
+
"confidence": 0.9836191534996033,
|
| 100 |
+
"position": [
|
| 101 |
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0.04817941601504572,
|
| 102 |
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0.0373244188958779,
|
| 103 |
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0.13622259040130302
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
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"w": 0.2850067260816098,
|
| 107 |
+
"xyz": [
|
| 108 |
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0.6362088466583034,
|
| 109 |
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-0.716014498682477,
|
| 110 |
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-0.03650626245501763
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"grasp_24": {
|
| 115 |
+
"confidence": 0.9832310676574707,
|
| 116 |
+
"position": [
|
| 117 |
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-0.007780545362038538,
|
| 118 |
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0.04809697868768126,
|
| 119 |
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0.13787948031676933
|
| 120 |
+
],
|
| 121 |
+
"orientation": {
|
| 122 |
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"w": 0.14764617772668143,
|
| 123 |
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"xyz": [
|
| 124 |
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0.6996411501379551,
|
| 125 |
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0.683565775678449,
|
| 126 |
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-0.1464264236996221
|
| 127 |
+
]
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"grasp_25": {
|
| 131 |
+
"confidence": 0.9831657409667969,
|
| 132 |
+
"position": [
|
| 133 |
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-0.042704490915639326,
|
| 134 |
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0.05172713624779135,
|
| 135 |
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0.13056952197803184
|
| 136 |
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],
|
| 137 |
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"orientation": {
|
| 138 |
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"w": 0.29917386184180667,
|
| 139 |
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"xyz": [
|
| 140 |
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0.6848090664659888,
|
| 141 |
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0.664440794760205,
|
| 142 |
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0.0070691679190430555
|
| 143 |
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]
|
| 144 |
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}
|
| 145 |
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},
|
| 146 |
+
"grasp_26": {
|
| 147 |
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"confidence": 0.983161449432373,
|
| 148 |
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"position": [
|
| 149 |
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0.058718329324619845,
|
| 150 |
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0.0375198662513867,
|
| 151 |
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0.12801935215247795
|
| 152 |
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],
|
| 153 |
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"orientation": {
|
| 154 |
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"w": 0.33643166908771716,
|
| 155 |
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"xyz": [
|
| 156 |
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0.6060406394192094,
|
| 157 |
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-0.7181172992687654,
|
| 158 |
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-0.061935610904735976
|
| 159 |
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]
|
| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"grasp_27": {
|
| 163 |
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"confidence": 0.9830839037895203,
|
| 164 |
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"position": [
|
| 165 |
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-0.00384623694117181,
|
| 166 |
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0.038155665271915495,
|
| 167 |
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0.141977880790364
|
| 168 |
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],
|
| 169 |
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"orientation": {
|
| 170 |
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"w": 0.10782135114367448,
|
| 171 |
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"xyz": [
|
| 172 |
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0.7129047967408813,
|
| 173 |
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0.6846998567587866,
|
| 174 |
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|
| 175 |
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]
|
| 176 |
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}
|
| 177 |
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},
|
| 178 |
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"grasp_28": {
|
| 179 |
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"confidence": 0.983039140701294,
|
| 180 |
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"position": [
|
| 181 |
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-0.08993769620428793,
|
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},
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{
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| 358 |
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|
| 360 |
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|
| 361 |
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| 362 |
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| 363 |
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"enable tilt adjustment",
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| 364 |
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"act as a pivot joint"
|
| 365 |
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],
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| 366 |
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"semantic_description": "Small olive-green rectangular hinge block between the support panel and the upper support structure, with a smooth plastic finish.",
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| 367 |
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"id": 14,
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| 368 |
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},
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{
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"part_name": "back contact pad",
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| 372 |
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"mask_color": "Green",
|
| 373 |
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|
| 374 |
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|
| 375 |
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| 378 |
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"reduce slipping"
|
| 379 |
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],
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"semantic_description": "Dark green rectangular pad inset in the center of the phone support panel, with a matte soft-looking surface for phone contact.",
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| 381 |
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"id": 1,
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| 382 |
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},
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{
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"part_name": "pivot cap",
|
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"mask_color": "Purple",
|
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|
| 388 |
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|
| 389 |
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"cover the pivot fastener",
|
| 391 |
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"mark the joint location"
|
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],
|
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"semantic_description": "Small circular bluish-purple cap on the side pivot area of the support linkage, with a smooth plastic appearance.",
|
| 394 |
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"id": 5,
|
| 395 |
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"grasp_group": {}
|
| 396 |
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},
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| 397 |
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{
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| 398 |
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"part_name": "front stop pad",
|
| 399 |
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"mask_color": "Yellow",
|
| 400 |
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"graspable": false,
|
| 401 |
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|
| 402 |
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"functional_labels": [
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| 403 |
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"support the phone bottom edge",
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"prevent the phone from sliding downward",
|
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"protect the phone surface"
|
| 406 |
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],
|
| 407 |
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"semantic_description": "Small pale yellow rectangular pad on the lower front ledge between the two hooks, with a smooth slightly glossy surface where the phone bottom rests.",
|
| 408 |
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"id": 3,
|
| 409 |
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|
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}
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],
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| 412 |
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"quality_check": {
|
| 413 |
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"success": false,
|
| 414 |
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"message": "Multiple semantic descriptions use mask colors, and one masked part is misidentified as a pad instead of the lower support bar."
|
| 415 |
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}
|
| 416 |
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}
|
dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d677900fd1aede9e9995beb797e1daa65216971c790c1a67452244f920fab4a8
|
| 3 |
+
size 3782588
|
dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>NO: {"summary":"Support arm, base, and hinge are over-merged; only minor merge fix is clear.","merge_groups":[{"colors":["Purple","Lime Green"],"target_part":"support frame","reason":"tiny fragments on arm/joint, not separate parts"}]}</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>NO: {"summary":"Support arm, base, and hinge are over-merged; only minor merge fix is clear.","merge_groups":[{"colors":["Purple","Lime Green"],"target_part":"support frame","reason":"tiny fragments on arm/joint, not separate parts"}]}</PartSegChecker>
|