Add asset desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb
Browse files
.gitattributes
CHANGED
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@@ -6648,3 +6648,4 @@ dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordanc
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| 6648 |
dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6649 |
dataset/desktop_supplies/office_tools/c2fa647eee055aa0820c3e790190871a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6650 |
dataset/desktop_supplies/office_tools/bf6e330df7125fe5a788c1455a8d3850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6648 |
dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6649 |
dataset/desktop_supplies/office_tools/c2fa647eee055aa0820c3e790190871a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6650 |
dataset/desktop_supplies/office_tools/bf6e330df7125fe5a788c1455a8d3850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6651 |
+
dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,384 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body from the sides to pick up and reposition the part",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady during assembly, inspection, or fastening through the holes",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the part while another tool engages the recessed channel or mounting holes",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main structural housing",
|
| 23 |
+
"mounting support",
|
| 24 |
+
"grasp surface",
|
| 25 |
+
"supports attached components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large L-shaped gray metal body with a smooth matte-to-semi-gloss finish, thick block-like form, rounded outer edges, and two circular holes on the top face.",
|
| 28 |
+
"id": 2,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9804909825325012,
|
| 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": 0.025436951804113407,
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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": 0.979769229888916,
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| 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": 0.030211815819230537,
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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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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9749873876571655,
|
| 64 |
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"position": [
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| 65 |
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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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| 70 |
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"w": 0.008001793458107616,
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| 71 |
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| 74 |
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9747455716133118,
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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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"w": 0.01122947487819504,
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| 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_4": {
|
| 95 |
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"confidence": 0.9747061729431152,
|
| 96 |
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"position": [
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| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
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"w": 0.009310425436000861,
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| 103 |
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"xyz": [
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| 107 |
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]
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}
|
| 109 |
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},
|
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"grasp_5": {
|
| 111 |
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"confidence": 0.9742063283920288,
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| 112 |
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"position": [
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],
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"orientation": {
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| 123 |
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]
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| 124 |
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}
|
| 125 |
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},
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| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.9741269946098328,
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| 128 |
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| 132 |
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],
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| 139 |
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]
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| 140 |
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}
|
| 141 |
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},
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| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9734706878662109,
|
| 144 |
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"position": [
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],
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},
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},
|
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"grasp_9": {
|
| 175 |
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"confidence": 0.9725472331047058,
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"orientation": {
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|
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"grasp_11": {
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"confidence": 0.971863865852356,
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"position": [
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"orientation": {
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}
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},
|
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|
| 319 |
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|
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],
|
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"orientation": {
|
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|
| 327 |
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|
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|
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]
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}
|
| 333 |
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}
|
| 334 |
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}
|
| 335 |
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},
|
| 336 |
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{
|
| 337 |
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"part_name": "curved recessed channel",
|
| 338 |
+
"mask_color": "Yellow",
|
| 339 |
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"graspable": false,
|
| 340 |
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"grasp_scenarios": [],
|
| 341 |
+
"functional_labels": [
|
| 342 |
+
"clearance recess",
|
| 343 |
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"guided contact surface",
|
| 344 |
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"access relief",
|
| 345 |
+
"shape feature for mating or support"
|
| 346 |
+
],
|
| 347 |
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"semantic_description": "Curved gray recessed section along the front/lower side of the part, smoothly blended into the body with a concave profile and the same metallic finish as the rest of the object.",
|
| 348 |
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"id": 3,
|
| 349 |
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"grasp_group": {}
|
| 350 |
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},
|
| 351 |
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{
|
| 352 |
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"part_name": "small mounting hole",
|
| 353 |
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"mask_color": "Red",
|
| 354 |
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"graspable": false,
|
| 355 |
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"grasp_scenarios": [],
|
| 356 |
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"functional_labels": [
|
| 357 |
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"fastener hole",
|
| 358 |
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"alignment hole",
|
| 359 |
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"mounting point"
|
| 360 |
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],
|
| 361 |
+
"semantic_description": "Small circular hole on the top face of the body, dark inside due to depth, positioned near one corner and noticeably smaller than the other hole.",
|
| 362 |
+
"id": 0,
|
| 363 |
+
"grasp_group": {}
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"part_name": "large mounting hole",
|
| 367 |
+
"mask_color": "Green",
|
| 368 |
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"graspable": false,
|
| 369 |
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"grasp_scenarios": [],
|
| 370 |
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"functional_labels": [
|
| 371 |
+
"fastener hole",
|
| 372 |
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"mounting point",
|
| 373 |
+
"clearance hole"
|
| 374 |
+
],
|
| 375 |
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"semantic_description": "Larger circular hole on the top face of the body, dark interior with smooth machined-looking rim, located near the center of the upper flat surface.",
|
| 376 |
+
"id": 1,
|
| 377 |
+
"grasp_group": {}
|
| 378 |
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}
|
| 379 |
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],
|
| 380 |
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"quality_check": {
|
| 381 |
+
"success": true,
|
| 382 |
+
"message": "YES"
|
| 383 |
+
}
|
| 384 |
+
}
|
dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77aa57df3b693d078ce0820a829f6f029b0506820540602692f71b9dd0f0b53f
|
| 3 |
+
size 1164792
|