Add asset desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/affordance_annot.json +709 -0
- dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -6653,3 +6653,4 @@ dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/affordanc
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| 6653 |
dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6654 |
dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6655 |
dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6653 |
dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6654 |
dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6655 |
dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6656 |
+
dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,709 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the front edge of the lid to open the organizer box",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while closing it onto the base",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the contents",
|
| 19 |
+
"protect stored items",
|
| 20 |
+
"open for access",
|
| 21 |
+
"close the box"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large translucent milky-white plastic lid with a smooth glossy hard surface, thin rectangular shape, hinged at the rear and mounted over the compartments.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9713115692138672,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.016676188679412007,
|
| 30 |
+
2.9814080335199833e-05,
|
| 31 |
+
0.1452829948393628
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.013376713782430164,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.7100431105013787,
|
| 37 |
+
0.7001013996759027,
|
| 38 |
+
0.07428239986532303
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9678260684013367,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.01839560572989285,
|
| 46 |
+
-0.0018663557711988688,
|
| 47 |
+
0.1420459708897397
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
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| 50 |
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"id": 8,
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| 461 |
+
"grasp_group": {}
|
| 462 |
+
},
|
| 463 |
+
{
|
| 464 |
+
"part_name": "rear hinge",
|
| 465 |
+
"mask_color": "Purple",
|
| 466 |
+
"graspable": false,
|
| 467 |
+
"grasp_scenarios": [],
|
| 468 |
+
"functional_labels": [
|
| 469 |
+
"connect lid to base",
|
| 470 |
+
"enable lid rotation",
|
| 471 |
+
"align opening motion",
|
| 472 |
+
"support repeated opening"
|
| 473 |
+
],
|
| 474 |
+
"semantic_description": "Small rear hinge feature joining the lid to the base, made of clear plastic with a hard glossy surface.",
|
| 475 |
+
"id": 5,
|
| 476 |
+
"grasp_group": {}
|
| 477 |
+
},
|
| 478 |
+
{
|
| 479 |
+
"part_name": "front clasp socket",
|
| 480 |
+
"mask_color": "Brown",
|
| 481 |
+
"graspable": false,
|
| 482 |
+
"grasp_scenarios": [],
|
| 483 |
+
"functional_labels": [
|
| 484 |
+
"receive the latch",
|
| 485 |
+
"help lock the lid",
|
| 486 |
+
"align front closure"
|
| 487 |
+
],
|
| 488 |
+
"semantic_description": "Small front-center receiving feature on the box base, made of clear plastic with a smooth glossy surface and a protruding block-like shape below the latch tab.",
|
| 489 |
+
"id": 11,
|
| 490 |
+
"grasp_group": {}
|
| 491 |
+
},
|
| 492 |
+
{
|
| 493 |
+
"part_name": "rim and internal dividers",
|
| 494 |
+
"mask_color": "Olive",
|
| 495 |
+
"graspable": false,
|
| 496 |
+
"grasp_scenarios": [],
|
| 497 |
+
"functional_labels": [
|
| 498 |
+
"support the box structure",
|
| 499 |
+
"separate compartments",
|
| 500 |
+
"reinforce the opening edge",
|
| 501 |
+
"guide lid alignment"
|
| 502 |
+
],
|
| 503 |
+
"semantic_description": "Thin translucent plastic frame around the top opening and between bins, with glossy hard smooth surfaces forming the compartment boundaries and upper rim.",
|
| 504 |
+
"id": 14,
|
| 505 |
+
"grasp_group": {}
|
| 506 |
+
},
|
| 507 |
+
{
|
| 508 |
+
"part_name": "base body",
|
| 509 |
+
"mask_color": "Cyan",
|
| 510 |
+
"graspable": true,
|
| 511 |
+
"grasp_scenarios": [
|
| 512 |
+
{
|
| 513 |
+
"scenario": "grasp the box base from the sides to pick up the organizer",
|
| 514 |
+
"confidence": 0.89
|
| 515 |
+
},
|
| 516 |
+
{
|
| 517 |
+
"scenario": "hold the base to stabilize the box while opening the lid",
|
| 518 |
+
"confidence": 0.86
|
| 519 |
+
}
|
| 520 |
+
],
|
| 521 |
+
"functional_labels": [
|
| 522 |
+
"contain all compartments",
|
| 523 |
+
"support stored items",
|
| 524 |
+
"provide the main grasp surface",
|
| 525 |
+
"stabilize the organizer"
|
| 526 |
+
],
|
| 527 |
+
"semantic_description": "Main clear plastic lower case with translucent walls, a glossy smooth hard finish, and a shallow rectangular box shape forming the container body.",
|
| 528 |
+
"id": 6,
|
| 529 |
+
"grasp_group": {
|
| 530 |
+
"grasp_30": {
|
| 531 |
+
"confidence": 0.5450841188430786,
|
| 532 |
+
"position": [
|
| 533 |
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0.1223012104164809,
|
| 534 |
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0.011561627266928554,
|
| 535 |
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-0.05735190969426185
|
| 536 |
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],
|
| 537 |
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"orientation": {
|
| 538 |
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"w": 0.6235722442911636,
|
| 539 |
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"xyz": [
|
| 540 |
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-0.3164796220405523,
|
| 541 |
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-0.3749936193730008,
|
| 542 |
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0.6085869620787877
|
| 543 |
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]
|
| 544 |
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}
|
| 545 |
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},
|
| 546 |
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"grasp_32": {
|
| 547 |
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"confidence": 0.45331016182899475,
|
| 548 |
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"position": [
|
| 549 |
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0.12387105519883335,
|
| 550 |
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0.002886988688260317,
|
| 551 |
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-0.06626369443256408
|
| 552 |
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],
|
| 553 |
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"orientation": {
|
| 554 |
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"w": 0.6176086389298517,
|
| 555 |
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"xyz": [
|
| 556 |
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0.3534990601429775,
|
| 557 |
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-0.3380437571990502,
|
| 558 |
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-0.6158931740293907
|
| 559 |
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]
|
| 560 |
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}
|
| 561 |
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},
|
| 562 |
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"grasp_34": {
|
| 563 |
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"confidence": 0.4231031537055969,
|
| 564 |
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"position": [
|
| 565 |
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0.047981080366298556,
|
| 566 |
+
0.0018373889033682644,
|
| 567 |
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-0.10946130391675979
|
| 568 |
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],
|
| 569 |
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"orientation": {
|
| 570 |
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"w": 0.7115036069111564,
|
| 571 |
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"xyz": [
|
| 572 |
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0.05245598575754398,
|
| 573 |
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0.0005434765577436718,
|
| 574 |
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-0.7007215506489365
|
| 575 |
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]
|
| 576 |
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}
|
| 577 |
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},
|
| 578 |
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"grasp_36": {
|
| 579 |
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"confidence": 0.41269758343696594,
|
| 580 |
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|
| 581 |
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0.03677992592565715,
|
| 582 |
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-0.01108831469900906,
|
| 583 |
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-0.10827338334638625
|
| 584 |
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],
|
| 585 |
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"orientation": {
|
| 586 |
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"w": 0.6941229338080488,
|
| 587 |
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"xyz": [
|
| 588 |
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-0.02088931177930869,
|
| 589 |
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0.013876727824871371,
|
| 590 |
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0.7194195061575466
|
| 591 |
+
]
|
| 592 |
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}
|
| 593 |
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},
|
| 594 |
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"grasp_37": {
|
| 595 |
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"confidence": 0.3729037940502167,
|
| 596 |
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"position": [
|
| 597 |
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0.038175207329913974,
|
| 598 |
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0.005566550651565194,
|
| 599 |
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-0.10966747638303787
|
| 600 |
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],
|
| 601 |
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"orientation": {
|
| 602 |
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"w": 0.7185550698410834,
|
| 603 |
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"xyz": [
|
| 604 |
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0.04940706648381563,
|
| 605 |
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0.013998025519809776,
|
| 606 |
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-0.6935716319665087
|
| 607 |
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]
|
| 608 |
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}
|
| 609 |
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},
|
| 610 |
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"grasp_39": {
|
| 611 |
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"confidence": 0.34162256121635437,
|
| 612 |
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"position": [
|
| 613 |
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0.1356664567720145,
|
| 614 |
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0.017541875829920173,
|
| 615 |
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-0.024442924303002656
|
| 616 |
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],
|
| 617 |
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"orientation": {
|
| 618 |
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"w": 0.40170535668158214,
|
| 619 |
+
"xyz": [
|
| 620 |
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-0.5851964594062218,
|
| 621 |
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-0.3190669540933665,
|
| 622 |
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0.6279921887391008
|
| 623 |
+
]
|
| 624 |
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}
|
| 625 |
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},
|
| 626 |
+
"grasp_41": {
|
| 627 |
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"confidence": 0.3317066729068756,
|
| 628 |
+
"position": [
|
| 629 |
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0.04040466318838298,
|
| 630 |
+
0.005814312258735299,
|
| 631 |
+
-0.10580680158454925
|
| 632 |
+
],
|
| 633 |
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"orientation": {
|
| 634 |
+
"w": 0.7082256164086767,
|
| 635 |
+
"xyz": [
|
| 636 |
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0.04163359043344881,
|
| 637 |
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0.013768261783664526,
|
| 638 |
+
-0.7046229881132362
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"grasp_42": {
|
| 643 |
+
"confidence": 0.28999578952789307,
|
| 644 |
+
"position": [
|
| 645 |
+
0.14001239533536136,
|
| 646 |
+
0.013350116787478328,
|
| 647 |
+
-0.026110040140338242
|
| 648 |
+
],
|
| 649 |
+
"orientation": {
|
| 650 |
+
"w": 0.3599938102585746,
|
| 651 |
+
"xyz": [
|
| 652 |
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-0.6173531071020544,
|
| 653 |
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-0.27898709025321244,
|
| 654 |
+
0.641440411261248
|
| 655 |
+
]
|
| 656 |
+
}
|
| 657 |
+
},
|
| 658 |
+
"grasp_45": {
|
| 659 |
+
"confidence": 0.7164949774742126,
|
| 660 |
+
"position": [
|
| 661 |
+
0.1388013034593314,
|
| 662 |
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0.011309201596304774,
|
| 663 |
+
-0.00627569726202637
|
| 664 |
+
],
|
| 665 |
+
"orientation": {
|
| 666 |
+
"w": 0.5064516779553416,
|
| 667 |
+
"xyz": [
|
| 668 |
+
-0.4879849910869839,
|
| 669 |
+
-0.49987150820725346,
|
| 670 |
+
0.5054758368633071
|
| 671 |
+
]
|
| 672 |
+
}
|
| 673 |
+
}
|
| 674 |
+
}
|
| 675 |
+
},
|
| 676 |
+
{
|
| 677 |
+
"part_name": "base underside panels",
|
| 678 |
+
"mask_color": "Magenta",
|
| 679 |
+
"graspable": false,
|
| 680 |
+
"grasp_scenarios": [],
|
| 681 |
+
"functional_labels": [
|
| 682 |
+
"form the floor of the base",
|
| 683 |
+
"support the contents from below",
|
| 684 |
+
"provide a resting underside surface"
|
| 685 |
+
],
|
| 686 |
+
"semantic_description": "Flat underside sections of the base visible from below, appearing translucent clear plastic with a slight pinkish cast in the render and smooth glossy surfaces divided into rectangular panels.",
|
| 687 |
+
"id": 7,
|
| 688 |
+
"grasp_group": {}
|
| 689 |
+
},
|
| 690 |
+
{
|
| 691 |
+
"part_name": "outer edge walls",
|
| 692 |
+
"mask_color": "Gray",
|
| 693 |
+
"graspable": false,
|
| 694 |
+
"grasp_scenarios": [],
|
| 695 |
+
"functional_labels": [
|
| 696 |
+
"define outer boundaries",
|
| 697 |
+
"support the base shape",
|
| 698 |
+
"protect edges during contact with surfaces"
|
| 699 |
+
],
|
| 700 |
+
"semantic_description": "Outer corner and edge wall portions of the base visible in the segmentation, corresponding to clear plastic perimeter surfaces with smooth glossy finish.",
|
| 701 |
+
"id": 15,
|
| 702 |
+
"grasp_group": {}
|
| 703 |
+
}
|
| 704 |
+
],
|
| 705 |
+
"quality_check": {
|
| 706 |
+
"success": false,
|
| 707 |
+
"message": "Several part identities and colors are mismatched; latch/socket descriptions are swapped and one compartment is mislabeled left/right."
|
| 708 |
+
}
|
| 709 |
+
}
|
dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:44e41714f9c19868f469ae2acb6f9900286461fe82bb85a9092a7a8304c5ce34
|
| 3 |
+
size 3808236
|
dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.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>YES</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>YES</PartSegChecker>
|