Add asset desktop_supplies/office_stationery/93541c712c74511b8a677f77dd62a155
Browse files
.gitattributes
CHANGED
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@@ -6415,3 +6415,4 @@ dataset/desktop_supplies/office_stationery/916f83e617bf56ce857a74f0b267d9c6/affo
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| 6415 |
dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6416 |
dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6417 |
dataset/desktop_supplies/office_stationery/92e609c34ad15d818f6183e6218ef0f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6415 |
dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6416 |
dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6417 |
dataset/desktop_supplies/office_stationery/92e609c34ad15d818f6183e6218ef0f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6418 |
+
dataset/desktop_supplies/office_stationery/93541c712c74511b8a677f77dd62a155/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/93541c712c74511b8a677f77dd62a155/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,373 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main casing",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the body from the sides to pick up the correction tape dispenser",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the dispenser while applying tape",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the broad body to reorient the dispenser on a desk",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"enclose internal mechanism",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support dispensing motion",
|
| 25 |
+
"protect tape reels and gears"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "The main teardrop-shaped body is made of translucent light blue plastic with a smooth glossy hard finish. It is medium-sized, forms most of the object, and has layered housing edges visible around the perimeter.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9305167198181152,
|
| 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": 0.9117003047785137,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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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": 0.9142412543296814,
|
| 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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| 53 |
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"orientation": {
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| 54 |
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"w": 0.8791078511179612,
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| 55 |
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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": 0.9127216935157776,
|
| 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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| 71 |
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"xyz": [
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| 75 |
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]
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| 76 |
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}
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| 77 |
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},
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| 78 |
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"grasp_4": {
|
| 79 |
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"confidence": 0.8995058536529541,
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| 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": {
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| 86 |
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"w": 0.8666332551039383,
|
| 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_5": {
|
| 95 |
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"confidence": 0.8901197910308838,
|
| 96 |
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"position": [
|
| 97 |
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| 99 |
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| 100 |
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],
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"orientation": {
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"xyz": [
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]
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}
|
| 109 |
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|
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"grasp_6": {
|
| 111 |
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"confidence": 0.8867490887641907,
|
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"position": [
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"orientation": {
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| 123 |
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| 125 |
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"grasp_12": {
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"confidence": 0.8625717759132385,
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]
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}
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| 141 |
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},
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"grasp_13": {
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| 143 |
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"confidence": 0.8567900061607361,
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"position": [
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"grasp_15": {
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"confidence": 0.8524242043495178,
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"grasp_16": {
|
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"confidence": 0.8453996181488037,
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"orientation": {
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|
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"grasp_17": {
|
| 207 |
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"confidence": 0.8418816328048706,
|
| 208 |
+
"position": [
|
| 209 |
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-0.0374459313461557,
|
| 210 |
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-0.08899900550022721,
|
| 211 |
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-0.04273876058869064
|
| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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"w": 0.8408760081489878,
|
| 215 |
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"xyz": [
|
| 216 |
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-0.5161256479931088,
|
| 217 |
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0.12644150544631338,
|
| 218 |
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-0.10273461005711415
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_18": {
|
| 223 |
+
"confidence": 0.8408326506614685,
|
| 224 |
+
"position": [
|
| 225 |
+
0.04430353024508804,
|
| 226 |
+
0.09441385930404067,
|
| 227 |
+
-0.04275231692008674
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.1259690143862138,
|
| 231 |
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"xyz": [
|
| 232 |
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-0.142300717167244,
|
| 233 |
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-0.5222845252190831,
|
| 234 |
+
0.8313249593419723
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_19": {
|
| 239 |
+
"confidence": 0.8398224711418152,
|
| 240 |
+
"position": [
|
| 241 |
+
0.034879231243394315,
|
| 242 |
+
0.11323112761601806,
|
| 243 |
+
0.0006409508641809225
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
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"w": 0.6913344482259851,
|
| 247 |
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"xyz": [
|
| 248 |
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0.7022117283002081,
|
| 249 |
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-0.050493967471769596,
|
| 250 |
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-0.16249839563105734
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "front tip cover",
|
| 258 |
+
"mask_color": "Orange",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "pinch the small front tip cover to remove or replace the protective cover",
|
| 263 |
+
"confidence": 0.73
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "use a precision pinch on the cover to orient the dispenser tip during handling",
|
| 267 |
+
"confidence": 0.42
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"cover and protect dispensing tip",
|
| 272 |
+
"mark the front end",
|
| 273 |
+
"help prevent accidental contact with the tape tip"
|
| 274 |
+
],
|
| 275 |
+
"semantic_description": "A small triangular translucent green plastic piece sits at the narrow front of the dispenser. It has a glossy smooth surface and appears like a removable protective cover over the tip area.",
|
| 276 |
+
"id": 4,
|
| 277 |
+
"grasp_group": {
|
| 278 |
+
"grasp_20": {
|
| 279 |
+
"confidence": 0.7935745120048523,
|
| 280 |
+
"position": [
|
| 281 |
+
0.10840945446398109,
|
| 282 |
+
0.00886776065453887,
|
| 283 |
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-0.0038544435519725084
|
| 284 |
+
],
|
| 285 |
+
"orientation": {
|
| 286 |
+
"w": 0.07083779854416755,
|
| 287 |
+
"xyz": [
|
| 288 |
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-0.6959474691275127,
|
| 289 |
+
0.07817526273624342,
|
| 290 |
+
0.7103011719042456
|
| 291 |
+
]
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"grasp_22": {
|
| 295 |
+
"confidence": 0.8300501704216003,
|
| 296 |
+
"position": [
|
| 297 |
+
0.1057054748525843,
|
| 298 |
+
0.009137163870036602,
|
| 299 |
+
-0.0034949842374771833
|
| 300 |
+
],
|
| 301 |
+
"orientation": {
|
| 302 |
+
"w": 0.07124624614531151,
|
| 303 |
+
"xyz": [
|
| 304 |
+
-0.6944285217185131,
|
| 305 |
+
0.07420511098756788,
|
| 306 |
+
0.7121703462917874
|
| 307 |
+
]
|
| 308 |
+
}
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
{
|
| 313 |
+
"part_name": "top label sticker",
|
| 314 |
+
"mask_color": "Purple",
|
| 315 |
+
"graspable": false,
|
| 316 |
+
"grasp_scenarios": [],
|
| 317 |
+
"functional_labels": [
|
| 318 |
+
"display branding",
|
| 319 |
+
"provide product information",
|
| 320 |
+
"decorate the product"
|
| 321 |
+
],
|
| 322 |
+
"semantic_description": "A large rounded sticker or printed label covers much of the top face. It appears predominantly turquoise/green and purple with white text and small colored graphic accents, and has a smooth glossy printed finish.",
|
| 323 |
+
"id": 5,
|
| 324 |
+
"grasp_group": {}
|
| 325 |
+
},
|
| 326 |
+
{
|
| 327 |
+
"part_name": "tape reel",
|
| 328 |
+
"mask_color": "Pink",
|
| 329 |
+
"graspable": false,
|
| 330 |
+
"grasp_scenarios": [],
|
| 331 |
+
"functional_labels": [
|
| 332 |
+
"support tape winding",
|
| 333 |
+
"rotate during dispensing",
|
| 334 |
+
"enable internal tape feed"
|
| 335 |
+
],
|
| 336 |
+
"semantic_description": "The visible reel is a circular white plastic spool recessed near the upper half of the body. It has a smooth hard surface with fine gear-like edging visible around part of its rim.",
|
| 337 |
+
"id": 8,
|
| 338 |
+
"grasp_group": {}
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"part_name": "reel hub",
|
| 342 |
+
"mask_color": "Blue",
|
| 343 |
+
"graspable": false,
|
| 344 |
+
"grasp_scenarios": [],
|
| 345 |
+
"functional_labels": [
|
| 346 |
+
"act as reel axle center",
|
| 347 |
+
"stabilize spool rotation",
|
| 348 |
+
"locate the spool",
|
| 349 |
+
"support tape transport mechanism"
|
| 350 |
+
],
|
| 351 |
+
"semantic_description": "The center of the reel is a small round teal-blue plastic hub positioned concentrically inside the white spool, with a smooth glossy finish.",
|
| 352 |
+
"id": 2,
|
| 353 |
+
"grasp_group": {}
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"part_name": "reel ring",
|
| 357 |
+
"mask_color": "Yellow",
|
| 358 |
+
"graspable": false,
|
| 359 |
+
"grasp_scenarios": [],
|
| 360 |
+
"functional_labels": [
|
| 361 |
+
"form part of reel structure",
|
| 362 |
+
"separate hub from outer spool"
|
| 363 |
+
],
|
| 364 |
+
"semantic_description": "A thin yellow circular ring surrounds the central hub, appearing as a smooth colored band between the teal center and the pink-masked outer reel area.",
|
| 365 |
+
"id": 3,
|
| 366 |
+
"grasp_group": {}
|
| 367 |
+
}
|
| 368 |
+
],
|
| 369 |
+
"quality_check": {
|
| 370 |
+
"success": false,
|
| 371 |
+
"message": "Tip part identity/function wrong; it is exposed nozzle, not removable cover."
|
| 372 |
+
}
|
| 373 |
+
}
|
dataset/desktop_supplies/office_stationery/93541c712c74511b8a677f77dd62a155/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a3566eda6fc363344cfa1d94260f8fe66c63dafd15dc4d0b263032625be95a5
|
| 3 |
+
size 3790072
|