Add asset desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/affordance/affordance_annot.json +451 -0
- dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/staples_box_013.urdf +1 -0
.gitattributes
CHANGED
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@@ -6678,4 +6678,4 @@ dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/affordanc
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| 6678 |
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6679 |
dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6680 |
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6681 |
-
dataset/desktop_supplies/office_tools/
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| 6678 |
dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6679 |
dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6680 |
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6681 |
+
dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,451 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover",
|
| 5 |
+
"mask_color": "Crimson",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cover and lower body together to pick up the staple case",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the cover edge to slide it open for access to staples",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cover to stabilize the case during dispensing or refilling",
|
| 18 |
+
"confidence": 0.64
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the staple supply",
|
| 23 |
+
"protect internal staples",
|
| 24 |
+
"provide an upper sliding shell",
|
| 25 |
+
"guide opening and closing"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light gray plastic top shell with a smooth matte finish, rounded rectangular shape, and white circular printed markings on the upper face.",
|
| 28 |
+
"id": 16,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "bottom tray",
|
| 33 |
+
"mask_color": "Cyan",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the bottom tray and cover together to pick up the staple case",
|
| 38 |
+
"confidence": 0.91
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the bottom tray while sliding the top cover open",
|
| 42 |
+
"confidence": 0.84
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "grasp the tray to position the case for dispensing or refilling staples",
|
| 46 |
+
"confidence": 0.73
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"contain staples",
|
| 51 |
+
"support the case structure",
|
| 52 |
+
"provide a stable base",
|
| 53 |
+
"guide the sliding cover"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Off-white to beige plastic lower tray with a smooth matte finish, shallow rectangular form, and rounded corners visible on the underside and side walls.",
|
| 56 |
+
"id": 6,
|
| 57 |
+
"grasp_group": {
|
| 58 |
+
"grasp_7": {
|
| 59 |
+
"confidence": 0.9750451445579529,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.0028953309301869012,
|
| 62 |
+
-0.03975418908521533,
|
| 63 |
+
-0.09550372418016195
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.01973115290452178,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.009699793757158891,
|
| 69 |
+
-0.143747011414474,
|
| 70 |
+
-0.9893701998319607
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_9": {
|
| 75 |
+
"confidence": 0.9744663834571838,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.00513541294640163,
|
| 78 |
+
0.0008762930519878864,
|
| 79 |
+
-0.09957507159560919
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.029506051750278612,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.008386242995299734,
|
| 85 |
+
0.017853793989947908,
|
| 86 |
+
0.9993699544606585
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_10": {
|
| 91 |
+
"confidence": 0.9734872579574585,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.00530251922464231,
|
| 94 |
+
0.0016426658257842064,
|
| 95 |
+
-0.0995740806683898
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.02336833292582251,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.0029352811466652555,
|
| 101 |
+
0.004849782752398557,
|
| 102 |
+
0.99971085057036
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_11": {
|
| 107 |
+
"confidence": 0.9721811413764954,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.007186237875430379,
|
| 110 |
+
-0.01242511486634612,
|
| 111 |
+
-0.10046327766031027
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.9996184376013424,
|
| 115 |
+
"xyz": [
|
| 116 |
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-0.0028373289605826664,
|
| 117 |
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0.025388376039762628,
|
| 118 |
+
-0.010505195566206443
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_12": {
|
| 123 |
+
"confidence": 0.9706637263298035,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.010364335183112416,
|
| 126 |
+
-0.00905935326591134,
|
| 127 |
+
-0.09947819169610739
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
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"w": 0.999357744009364,
|
| 131 |
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"xyz": [
|
| 132 |
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0.0057994625039136626,
|
| 133 |
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0.03296537526093435,
|
| 134 |
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-0.012796474400642915
|
| 135 |
+
]
|
| 136 |
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}
|
| 137 |
+
},
|
| 138 |
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"grasp_13": {
|
| 139 |
+
"confidence": 0.9695861339569092,
|
| 140 |
+
"position": [
|
| 141 |
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0.0076969851143076085,
|
| 142 |
+
0.02273987466469407,
|
| 143 |
+
-0.10166594292968512
|
| 144 |
+
],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.999978209073063,
|
| 147 |
+
"xyz": [
|
| 148 |
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0.0029181841711567054,
|
| 149 |
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-0.004180969055137984,
|
| 150 |
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-0.004193456561390013
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_14": {
|
| 155 |
+
"confidence": 0.96938556432724,
|
| 156 |
+
"position": [
|
| 157 |
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0.01907065122941276,
|
| 158 |
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-0.03308806149289012,
|
| 159 |
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-0.0904359882697463
|
| 160 |
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],
|
| 161 |
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"orientation": {
|
| 162 |
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"w": 0.029652020433775697,
|
| 163 |
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"xyz": [
|
| 164 |
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| 309 |
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"indicate remaining supply"
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],
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"semantic_description": "Exposed row of small silver metal staples with a reflective finish, visible as a compact stacked strip at the dispensing end of the case.",
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{
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"part_name": "end pivot rivet",
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"grasp_scenarios": [],
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],
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"semantic_description": "Small circular blue-gray rivet-like detail at one end corner of the case, flush with the side surface and appearing metallic or hard plastic.",
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},
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"part_name": "side latch tab",
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"mask_color": "Yellow",
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| 331 |
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"graspable": true,
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| 332 |
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| 333 |
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{
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"scenario": "press or pinch the small side tab to release or guide the sliding cover during opening",
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},
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{
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}
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],
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"functional_labels": [
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"act as a latch or detent feature",
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"help control cover movement",
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"provide a small manipulation point"
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| 346 |
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],
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"semantic_description": "Small pale beige to light gray plastic tab or protruding feature along the side/opening area of the case, with a smooth finish and slight outward extension from the body.",
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| 348 |
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"id": 3,
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},
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],
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}
|
| 430 |
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}
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| 431 |
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},
|
| 432 |
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{
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| 433 |
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"part_name": "small side stop",
|
| 434 |
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"mask_color": "Magenta",
|
| 435 |
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"graspable": false,
|
| 436 |
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"grasp_scenarios": [],
|
| 437 |
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"functional_labels": [
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| 438 |
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"limit cover travel",
|
| 439 |
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"retain alignment",
|
| 440 |
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"act as a small stop feature"
|
| 441 |
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],
|
| 442 |
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"semantic_description": "Very small light gray plastic side feature near one end, with a smooth finish and slight protrusion from the case edge.",
|
| 443 |
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"id": 7,
|
| 444 |
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"grasp_group": {}
|
| 445 |
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}
|
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],
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| 447 |
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"quality_check": {
|
| 448 |
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"success": false,
|
| 449 |
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"message": "Several small parts are misidentified; yellow is staple strip, not latch tab, and magenta is cover edge, not side stop."
|
| 450 |
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}
|
| 451 |
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}
|
dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/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 sha256:986bb4fce5a71f03d707a9913360f800799a4b282e654d0b6d8d8e135db3f4c2
|
| 3 |
+
size 3784612
|
dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/staples_box_013.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|