Add asset desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/affordance_annot.json +692 -0
- dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.urdf +1 -0
.gitattributes
CHANGED
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@@ -6580,4 +6580,4 @@ dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordanc
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6583 |
-
dataset/desktop_supplies/office_tools/
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6582 |
dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6583 |
+
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,692 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open the box",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while accessing the contents",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the closed lid and body together for whole-box pickup",
|
| 18 |
+
"confidence": 0.41
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the contents",
|
| 23 |
+
"open and close the box",
|
| 24 |
+
"protect stored item",
|
| 25 |
+
"provide top access surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded brown wooden top panel with a matte to satin finish, smooth wood-grain surface, and a thick gently curved shape forming the hinged cover at the top.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9133937358856201,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.010742351179942489,
|
| 34 |
+
-0.1051309821777977,
|
| 35 |
+
0.1088561899960041
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3589501960046435,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.591625205543814,
|
| 41 |
+
-0.6215499342179743,
|
| 42 |
+
-0.3671648842510672
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9129772782325745,
|
| 48 |
+
"position": [
|
| 49 |
+
0.01291024056263268,
|
| 50 |
+
-0.09639785863691941,
|
| 51 |
+
0.11889543756842613
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3343061559398833,
|
| 55 |
+
"xyz": [
|
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"support or cradle the stored item",
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"help position contents inside the box"
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| 614 |
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],
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"semantic_description": "Small brown wooden block-like insert inside the box cavity, with a matte wood finish and simple rectangular upright shape.",
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{
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{
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{
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}
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],
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"release the front closure",
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],
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"semantic_description": "Small pale brass-colored metal clasp with a slightly reflective finish and hard smooth surface, centered on the front rim as the main closure hardware.",
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}
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},
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| 659 |
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{
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"part_name": "hinge",
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|
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|
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|
| 664 |
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"functional_labels": [
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"connect lid to body",
|
| 666 |
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"enable lid rotation",
|
| 667 |
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"guide opening motion"
|
| 668 |
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],
|
| 669 |
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"semantic_description": "Narrow pale brass-colored metal hinge strip with a reflective smooth surface, mounted along the rear edge to join the wooden lid and base.",
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| 670 |
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| 671 |
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"grasp_group": {}
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},
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| 673 |
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{
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| 674 |
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"part_name": "latch catch plate",
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| 675 |
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|
| 677 |
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"grasp_scenarios": [],
|
| 678 |
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"functional_labels": [
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| 679 |
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"anchor the front latch on the lid",
|
| 680 |
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"receive or support the clasp mechanism",
|
| 681 |
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"help keep the lid secured when closed"
|
| 682 |
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],
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| 683 |
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"semantic_description": "Small pale brass-colored metal latch plate with a reflective finish, mounted on the front edge of the lid just above the main clasp.",
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| 684 |
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"id": 7,
|
| 685 |
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"grasp_group": {}
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}
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],
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"quality_check": {
|
| 689 |
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"success": false,
|
| 690 |
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"message": "Yellow part is not an interior support block; it is the stapler stored inside the box."
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| 691 |
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}
|
| 692 |
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}
|
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:46f88ca61792d28ebce5f1315675d1471685e17bd10abad6996f472d2e915a96
|
| 3 |
+
size 3782088
|
dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|