Add asset desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/affordance_annot.json +368 -0
- dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/c202a5341c68593382acdb894c05e477.urdf +1 -0
.gitattributes
CHANGED
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@@ -6486,3 +6486,4 @@ dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/affo
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| 6486 |
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6487 |
dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6488 |
dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6486 |
dataset/desktop_supplies/office_stationery/c072a0b55974573aaa0cc7493d526f36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6487 |
dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6488 |
dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6489 |
+
dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,368 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "marker barrel",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the marker",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize and orient the marker for use or inspection",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"main grasp surface",
|
| 19 |
+
"structural body",
|
| 20 |
+
"houses internal ink components",
|
| 21 |
+
"connects tip assembly and rear end",
|
| 22 |
+
"supports orientation control"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Long red-orange plastic body forming most of the marker, with a faceted polygonal shaft and smooth hard surface extending between the tip assembly and the rear end.",
|
| 25 |
+
"id": 1,
|
| 26 |
+
"grasp_group": {
|
| 27 |
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"grasp_0": {
|
| 28 |
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"confidence": 0.9916489124298096,
|
| 29 |
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"position": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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],
|
| 34 |
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"orientation": {
|
| 35 |
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"w": 0.38512216819069583,
|
| 36 |
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"xyz": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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]
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"grasp_1": {
|
| 44 |
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"confidence": 0.9916115403175354,
|
| 45 |
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"position": [
|
| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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],
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| 50 |
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"orientation": {
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| 51 |
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"w": 0.3352165531669867,
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| 52 |
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"xyz": [
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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}
|
| 58 |
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},
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| 59 |
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"grasp_2": {
|
| 60 |
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"confidence": 0.9912857413291931,
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| 61 |
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"position": [
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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],
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| 66 |
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"orientation": {
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| 67 |
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"w": 0.19156353052674674,
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| 68 |
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"xyz": [
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| 71 |
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| 72 |
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]
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| 73 |
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}
|
| 74 |
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},
|
| 75 |
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"grasp_3": {
|
| 76 |
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"confidence": 0.9912158250808716,
|
| 77 |
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"position": [
|
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| 80 |
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| 81 |
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],
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"orientation": {
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"w": 0.45034075715997035,
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| 84 |
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"xyz": [
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|
| 87 |
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|
| 88 |
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]
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"grasp_4": {
|
| 92 |
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"confidence": 0.9912071824073792,
|
| 93 |
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"position": [
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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],
|
| 98 |
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"orientation": {
|
| 99 |
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"w": 0.18754783914953088,
|
| 100 |
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"xyz": [
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|
| 103 |
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|
| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"grasp_5": {
|
| 108 |
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"confidence": 0.9911162853240967,
|
| 109 |
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"position": [
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|
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],
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"orientation": {
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| 120 |
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| 121 |
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|
| 122 |
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},
|
| 123 |
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"grasp_6": {
|
| 124 |
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"confidence": 0.9909756779670715,
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| 125 |
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| 129 |
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],
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"orientation": {
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},
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"grasp_7": {
|
| 140 |
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"confidence": 0.9908037185668945,
|
| 141 |
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"position": [
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],
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"orientation": {
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}
|
| 154 |
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},
|
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"grasp_8": {
|
| 156 |
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"confidence": 0.9907280206680298,
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"position": [
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},
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| 171 |
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"grasp_9": {
|
| 172 |
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"confidence": 0.9907124638557434,
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"orientation": {
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| 186 |
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},
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"grasp_10": {
|
| 188 |
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"confidence": 0.9906847476959229,
|
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"position": [
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"orientation": {
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|
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},
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},
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|
| 321 |
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],
|
| 322 |
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"orientation": {
|
| 323 |
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|
| 324 |
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"xyz": [
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|
| 327 |
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]
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| 330 |
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}
|
| 331 |
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}
|
| 332 |
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},
|
| 333 |
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{
|
| 334 |
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"part_name": "marker tip assembly",
|
| 335 |
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"mask_color": "Yellow",
|
| 336 |
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"graspable": false,
|
| 337 |
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"grasp_scenarios": [],
|
| 338 |
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"functional_labels": [
|
| 339 |
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"apply ink",
|
| 340 |
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"make writing marks",
|
| 341 |
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"provide precise contact point",
|
| 342 |
+
"indicate writing end"
|
| 343 |
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],
|
| 344 |
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"semantic_description": "Small yellow/orange tip assembly at one end, including a narrow tapered writing point and short conical plastic section used for marking surfaces.",
|
| 345 |
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"id": 3,
|
| 346 |
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"grasp_group": {}
|
| 347 |
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},
|
| 348 |
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{
|
| 349 |
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"part_name": "rear end nub",
|
| 350 |
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"mask_color": "Blue",
|
| 351 |
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"graspable": false,
|
| 352 |
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"grasp_scenarios": [],
|
| 353 |
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"functional_labels": [
|
| 354 |
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"close the back end",
|
| 355 |
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"retain internal components",
|
| 356 |
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"protect the rear end",
|
| 357 |
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"indicate marker orientation"
|
| 358 |
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],
|
| 359 |
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"semantic_description": "Tiny blue plastic piece at the back end of the marker, visible as a very small rounded or pointed end nub with minimal graspable area.",
|
| 360 |
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"id": 2,
|
| 361 |
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"grasp_group": {}
|
| 362 |
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}
|
| 363 |
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],
|
| 364 |
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"quality_check": {
|
| 365 |
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"success": false,
|
| 366 |
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"message": "Tip and rear colors/descriptions are swapped; rear nub is visible only as tiny blue end cap, not back-end closure function."
|
| 367 |
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}
|
| 368 |
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}
|
dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:dcc05134129182f62593df44682d1c681fb71acdf56504782d2038e74d742802
|
| 3 |
+
size 671900
|
dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/c202a5341c68593382acdb894c05e477.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|