Add asset desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/affordance_annot.json +379 -0
- dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.urdf +1 -0
.gitattributes
CHANGED
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@@ -6403,3 +6403,4 @@ dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/affo
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| 6403 |
dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6404 |
dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6403 |
dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6404 |
dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6405 |
dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6406 |
+
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,379 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "housing",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and move the correction tape dispenser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while positioning the applicator tip on paper",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the dispenser during tape application",
|
| 18 |
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"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal tape mechanism",
|
| 24 |
+
"support all other parts",
|
| 25 |
+
"provide handhold for positioning"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large off-white plastic outer body with a smooth mostly matte finish and rounded teardrop-like side profile, forming the main shell of the dispenser.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9832308292388916,
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| 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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],
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| 37 |
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"orientation": {
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"w": 0.15252342434401972,
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"xyz": [
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| 43 |
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]
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| 44 |
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}
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| 45 |
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},
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| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.983153760433197,
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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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"orientation": {
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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": 0.9831175804138184,
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| 64 |
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"position": [
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| 68 |
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],
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"orientation": {
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}
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| 77 |
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},
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"grasp_3": {
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| 79 |
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"confidence": 0.9829578995704651,
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| 80 |
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"orientation": {
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| 91 |
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]
|
| 92 |
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}
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| 93 |
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},
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| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9829061031341553,
|
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"position": [
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"orientation": {
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"grasp_6": {
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},
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"confidence": 0.9810669422149658,
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],
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]
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| 221 |
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},
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| 222 |
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|
| 223 |
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"confidence": 0.9810566306114197,
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| 224 |
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"position": [
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| 225 |
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| 226 |
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| 227 |
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],
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| 233 |
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| 234 |
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|
| 235 |
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]
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| 236 |
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}
|
| 237 |
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},
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| 238 |
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"grasp_18": {
|
| 239 |
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"confidence": 0.9805712699890137,
|
| 240 |
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| 241 |
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-0.04003078769892454,
|
| 242 |
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-0.0002681708210729994,
|
| 243 |
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0.09323863286408596
|
| 244 |
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],
|
| 245 |
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| 246 |
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|
| 247 |
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| 248 |
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| 249 |
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| 250 |
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|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_19": {
|
| 255 |
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"confidence": 0.9805232882499695,
|
| 256 |
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"position": [
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| 257 |
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0.05137911532074213,
|
| 258 |
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|
| 259 |
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0.0954023559752386
|
| 260 |
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],
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| 261 |
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"orientation": {
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| 262 |
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"w": 0.18897513399757623,
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| 263 |
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"xyz": [
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| 264 |
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0.6772636055555534,
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| 265 |
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| 266 |
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| 267 |
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]
|
| 268 |
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}
|
| 269 |
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}
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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{
|
| 273 |
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"part_name": "applicator tip",
|
| 274 |
+
"mask_color": "Yellow",
|
| 275 |
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"graspable": false,
|
| 276 |
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"grasp_scenarios": [],
|
| 277 |
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"functional_labels": [
|
| 278 |
+
"apply correction tape",
|
| 279 |
+
"guide tape onto paper",
|
| 280 |
+
"define contact point",
|
| 281 |
+
"enable precise placement"
|
| 282 |
+
],
|
| 283 |
+
"semantic_description": "Small off-white to pale cream plastic tip at the front nose of the dispenser, narrow and tapered for contacting the paper surface.",
|
| 284 |
+
"id": 3,
|
| 285 |
+
"grasp_group": {}
|
| 286 |
+
},
|
| 287 |
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{
|
| 288 |
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"part_name": "tip collar",
|
| 289 |
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"mask_color": "Magenta",
|
| 290 |
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"graspable": false,
|
| 291 |
+
"grasp_scenarios": [],
|
| 292 |
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"functional_labels": [
|
| 293 |
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"support applicator tip",
|
| 294 |
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"connect tip to housing",
|
| 295 |
+
"protect front mechanism",
|
| 296 |
+
"align tape path"
|
| 297 |
+
],
|
| 298 |
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"semantic_description": "Small off-white collar-like side pieces at the base of the front tip, wrapping the connection between the nose and the main body.",
|
| 299 |
+
"id": 7,
|
| 300 |
+
"grasp_group": {}
|
| 301 |
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},
|
| 302 |
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{
|
| 303 |
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"part_name": "transparent cover",
|
| 304 |
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"mask_color": "Cyan",
|
| 305 |
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"graspable": false,
|
| 306 |
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"grasp_scenarios": [],
|
| 307 |
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"functional_labels": [
|
| 308 |
+
"cover internal mechanism",
|
| 309 |
+
"allow visibility of tape path",
|
| 310 |
+
"protect moving parts",
|
| 311 |
+
"help inspect internal tape routing"
|
| 312 |
+
],
|
| 313 |
+
"semantic_description": "Clear translucent glossy plastic cover along the lower side/front underside area, exposing part of the internal tape path and mechanism.",
|
| 314 |
+
"id": 6,
|
| 315 |
+
"grasp_group": {}
|
| 316 |
+
},
|
| 317 |
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{
|
| 318 |
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"part_name": "tape reel cover",
|
| 319 |
+
"mask_color": "Brown",
|
| 320 |
+
"graspable": false,
|
| 321 |
+
"grasp_scenarios": [],
|
| 322 |
+
"functional_labels": [
|
| 323 |
+
"cover spool area",
|
| 324 |
+
"protect tape reel",
|
| 325 |
+
"indicate reel location",
|
| 326 |
+
"enclose rotating mechanism"
|
| 327 |
+
],
|
| 328 |
+
"semantic_description": "Large oval beige-gold side insert over the circular reel area, with a smooth slightly glossy finish and printed markings visible on some views.",
|
| 329 |
+
"id": 11,
|
| 330 |
+
"grasp_group": {}
|
| 331 |
+
},
|
| 332 |
+
{
|
| 333 |
+
"part_name": "top viewing slots",
|
| 334 |
+
"mask_color": "Gray",
|
| 335 |
+
"graspable": false,
|
| 336 |
+
"grasp_scenarios": [],
|
| 337 |
+
"functional_labels": [
|
| 338 |
+
"show internal tape status",
|
| 339 |
+
"allow visual inspection",
|
| 340 |
+
"indicate mechanism position"
|
| 341 |
+
],
|
| 342 |
+
"semantic_description": "Small narrow transparent or translucent slots near the top ridge of the housing, glossy and elongated rather than a single rectangular window.",
|
| 343 |
+
"id": 15,
|
| 344 |
+
"grasp_group": {}
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"part_name": "printed label",
|
| 348 |
+
"mask_color": "Navy",
|
| 349 |
+
"graspable": false,
|
| 350 |
+
"grasp_scenarios": [],
|
| 351 |
+
"functional_labels": [
|
| 352 |
+
"display branding",
|
| 353 |
+
"provide product identification",
|
| 354 |
+
"add visual marking"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Small dark blue printed text or logo on the beige-gold reel cover, appearing as flat surface graphics rather than a structural part.",
|
| 357 |
+
"id": 13,
|
| 358 |
+
"grasp_group": {}
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"part_name": "small side tab",
|
| 362 |
+
"mask_color": "Red",
|
| 363 |
+
"graspable": false,
|
| 364 |
+
"grasp_scenarios": [],
|
| 365 |
+
"functional_labels": [
|
| 366 |
+
"minor structural feature",
|
| 367 |
+
"possible latch or mold detail",
|
| 368 |
+
"small protruding reference feature"
|
| 369 |
+
],
|
| 370 |
+
"semantic_description": "Very small off-white protruding tab-like feature on the lower side near the front underside, made of smooth plastic and not clearly a pressable button.",
|
| 371 |
+
"id": 0,
|
| 372 |
+
"grasp_group": {}
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"quality_check": {
|
| 376 |
+
"success": false,
|
| 377 |
+
"message": "Multiple semantic descriptions use wrong colors/materials; housing and several parts are not off-white, and printed label description is inaccurate."
|
| 378 |
+
}
|
| 379 |
+
}
|
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:1e2b672651075d76488b1094cd6fd666a7a9e4da2461924bb47fd19addae7ff2
|
| 3 |
+
size 3778500
|
dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.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>
|