Add asset desktop_supplies/office_tools/47747fceab015558832521c18827da6e
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/affordance/affordance_annot.json +374 -0
- dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.urdf +1 -0
.gitattributes
CHANGED
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@@ -6565,3 +6565,4 @@ dataset/desktop_supplies/office_tools/41d0fdcf14c0565bb2d5ca3bfefefd2e/affordanc
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| 6565 |
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6566 |
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6567 |
dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6565 |
dataset/desktop_supplies/office_tools/44e49b35fadf5945891867fa30af7091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6566 |
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6567 |
dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6568 |
+
dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,374 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top press button",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "press the top button downward to actuate the self-inking stamp",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"functional_labels": [
|
| 14 |
+
"actuation surface",
|
| 15 |
+
"receive downward pressing force",
|
| 16 |
+
"trigger stamping mechanism"
|
| 17 |
+
],
|
| 18 |
+
"semantic_description": "Flat circular top cap/button on the upper end of the stamp, appearing bright red with a smooth slightly glossy finish. It is the large round surface used for pressing, not the hidden imprint face.",
|
| 19 |
+
"id": 0,
|
| 20 |
+
"grasp_group": {}
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"part_name": "stamp body",
|
| 24 |
+
"mask_color": "Green",
|
| 25 |
+
"graspable": true,
|
| 26 |
+
"grasp_scenarios": [
|
| 27 |
+
{
|
| 28 |
+
"scenario": "grasp the cylindrical outer body to pick up and move the stamp",
|
| 29 |
+
"confidence": 0.94
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "hold the body while aligning and pressing the stamp onto a surface",
|
| 33 |
+
"confidence": 0.95
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "stabilize the body while orienting the stamp before use",
|
| 37 |
+
"confidence": 0.91
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"main grasp surface",
|
| 42 |
+
"support pressing force",
|
| 43 |
+
"house the stamp mechanism",
|
| 44 |
+
"provide overall structure"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Main cylindrical outer shell of the stamp, made of light gray to translucent plastic with a smooth finish and slightly tapered sides. It forms most of the object, including the upper body and lower rim around the internal red section.",
|
| 47 |
+
"id": 1,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_0": {
|
| 50 |
+
"confidence": 0.8619741201400757,
|
| 51 |
+
"position": [
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| 52 |
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| 53 |
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0.11074924666900188,
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| 54 |
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-0.02211136184632778
|
| 55 |
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],
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| 56 |
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"orientation": {
|
| 57 |
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"w": 0.03749047590664006,
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| 58 |
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"xyz": [
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| 59 |
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| 60 |
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|
| 61 |
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|
| 62 |
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]
|
| 63 |
+
}
|
| 64 |
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},
|
| 65 |
+
"grasp_1": {
|
| 66 |
+
"confidence": 0.8610619902610779,
|
| 67 |
+
"position": [
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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"orientation": {
|
| 73 |
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"w": 0.7237096426850075,
|
| 74 |
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"xyz": [
|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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]
|
| 79 |
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}
|
| 80 |
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},
|
| 81 |
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"grasp_2": {
|
| 82 |
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"confidence": 0.8595680594444275,
|
| 83 |
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"position": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"orientation": {
|
| 89 |
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"w": 0.7236201490763685,
|
| 90 |
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"xyz": [
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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]
|
| 95 |
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}
|
| 96 |
+
},
|
| 97 |
+
"grasp_3": {
|
| 98 |
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"confidence": 0.8590518832206726,
|
| 99 |
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"position": [
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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],
|
| 104 |
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"orientation": {
|
| 105 |
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"w": 0.714946191404153,
|
| 106 |
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"xyz": [
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|
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|
| 109 |
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|
| 110 |
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]
|
| 111 |
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}
|
| 112 |
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},
|
| 113 |
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"grasp_4": {
|
| 114 |
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"confidence": 0.8587761521339417,
|
| 115 |
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"position": [
|
| 116 |
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| 118 |
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|
| 119 |
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],
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"orientation": {
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| 121 |
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| 122 |
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|
| 126 |
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]
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| 127 |
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}
|
| 128 |
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},
|
| 129 |
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"grasp_5": {
|
| 130 |
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"confidence": 0.8569362163543701,
|
| 131 |
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"position": [
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| 132 |
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],
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"orientation": {
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|
| 142 |
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]
|
| 143 |
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}
|
| 144 |
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},
|
| 145 |
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"grasp_6": {
|
| 146 |
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"confidence": 0.8563054800033569,
|
| 147 |
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"position": [
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| 148 |
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|
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|
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],
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]
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},
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"confidence": 0.855952799320221,
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|
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],
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| 174 |
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]
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| 175 |
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}
|
| 176 |
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},
|
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"grasp_8": {
|
| 178 |
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"confidence": 0.8533225059509277,
|
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"position": [
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|
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],
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"orientation": {
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"w": 0.7225736478914974,
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"xyz": [
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|
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}
|
| 192 |
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},
|
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"grasp_9": {
|
| 194 |
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"confidence": 0.8512246608734131,
|
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"position": [
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|
| 200 |
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],
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| 328 |
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| 329 |
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| 330 |
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| 333 |
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| 334 |
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| 336 |
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| 337 |
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|
| 338 |
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|
| 339 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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],
|
| 344 |
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|
| 345 |
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|
| 346 |
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| 347 |
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|
| 348 |
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| 349 |
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|
| 350 |
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]
|
| 351 |
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}
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| 352 |
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}
|
| 353 |
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}
|
| 354 |
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},
|
| 355 |
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{
|
| 356 |
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"part_name": "side viewing window",
|
| 357 |
+
"mask_color": "Blue",
|
| 358 |
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"graspable": false,
|
| 359 |
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"grasp_scenarios": [],
|
| 360 |
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"functional_labels": [
|
| 361 |
+
"indicate stamp orientation",
|
| 362 |
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"show label or viewing area",
|
| 363 |
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"help identify impression direction"
|
| 364 |
+
],
|
| 365 |
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"semantic_description": "Small dark gray inset side window on the outer body, likely smooth plastic, with a shallow curved-rectangular shape positioned laterally near the lower side of the stamp.",
|
| 366 |
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"id": 2,
|
| 367 |
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"grasp_group": {}
|
| 368 |
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}
|
| 369 |
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],
|
| 370 |
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"quality_check": {
|
| 371 |
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"success": false,
|
| 372 |
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"message": "Body color/material description is wrong; viewing window function overstated and button not clearly separate from imprint face."
|
| 373 |
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}
|
| 374 |
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}
|
dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:165d03bb6e708caf9cba6fd5825e891d934572fa30a8bc2a87632a6ef6afde4c
|
| 3 |
+
size 3780296
|
dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.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>NO: {"summary":"Side cutout/window is inconsistently segmented and partly missing; top and body are otherwise reasonable.","merge_groups":[]}</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>NO: {"summary":"Side cutout/window is inconsistently segmented and partly missing; top and body are otherwise reasonable.","merge_groups":[]}</PartSegChecker>
|