Add asset desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/affordance_annot.json +621 -0
- dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -6364,3 +6364,4 @@ dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/affo
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| 6364 |
dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6365 |
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6364 |
dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6365 |
dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6366 |
dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6367 |
+
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,621 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "barrel",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the central barrel to pick up and hold the pen",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the barrel to reorient the pen for writing-tip alignment",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the barrel while pressing the click button",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"support writing control",
|
| 24 |
+
"house the internal refill",
|
| 25 |
+
"connect front grip and rear mechanism"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long cylindrical central body with a glossy blue-and-white wave or cloud-like printed pattern, smooth hard plastic, medium thickness, forming most of the pen's length.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_60": {
|
| 31 |
+
"confidence": 0.7571861743927002,
|
| 32 |
+
"position": [
|
| 33 |
+
0.11058345751371235,
|
| 34 |
+
0.01329841410915833,
|
| 35 |
+
0.0493283685791539
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.41573923050758477,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5642241062536332,
|
| 41 |
+
-0.6595629232601787,
|
| 42 |
+
-0.27164094021288016
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_61": {
|
| 47 |
+
"confidence": 0.7407687902450562,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1093221710762009,
|
| 50 |
+
-0.047701079936814494,
|
| 51 |
+
-0.005346160891349427
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6863186546401242,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.134143347347486,
|
| 57 |
+
-0.6778046371367649,
|
| 58 |
+
-0.22705316675016954
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_62": {
|
| 63 |
+
"confidence": 0.7346059083938599,
|
| 64 |
+
"position": [
|
| 65 |
+
0.11490099446382374,
|
| 66 |
+
0.005552093425649218,
|
| 67 |
+
0.04542033416510094
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.40471228467300857,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5726525563873103,
|
| 73 |
+
-0.6342942612987107,
|
| 74 |
+
-0.32549624633988566
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_63": {
|
| 79 |
+
"confidence": 0.7198334336280823,
|
| 80 |
+
"position": [
|
| 81 |
+
0.11327011452522129,
|
| 82 |
+
-0.04681285897095222,
|
| 83 |
+
0.006490962070529349
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6615888572051585,
|
| 87 |
+
"xyz": [
|
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|
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},
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],
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"orientation": {
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| 573 |
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}
|
| 574 |
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}
|
| 575 |
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},
|
| 576 |
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{
|
| 577 |
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"part_name": "click button",
|
| 578 |
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"mask_color": "Purple",
|
| 579 |
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"graspable": true,
|
| 580 |
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"grasp_scenarios": [
|
| 581 |
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{
|
| 582 |
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"scenario": "pinch the rear button end to pick up the pen from a flat surface",
|
| 583 |
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"confidence": 0.41
|
| 584 |
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},
|
| 585 |
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{
|
| 586 |
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"scenario": "hold the rear button area while repositioning the pen",
|
| 587 |
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"confidence": 0.33
|
| 588 |
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}
|
| 589 |
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],
|
| 590 |
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"functional_labels": [
|
| 591 |
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"actuate retract mechanism",
|
| 592 |
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"extend or retract refill",
|
| 593 |
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"define rear end orientation"
|
| 594 |
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],
|
| 595 |
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"semantic_description": "Small rounded rear plunger in light gray plastic, glossy and smooth, positioned at the back end of the pen.",
|
| 596 |
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"id": 5,
|
| 597 |
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"grasp_group": {
|
| 598 |
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"grasp_28": {
|
| 599 |
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"confidence": 0.502642035484314,
|
| 600 |
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"position": [
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| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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],
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| 605 |
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"orientation": {
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| 606 |
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"w": 0.6995359168961586,
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| 607 |
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"xyz": [
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| 608 |
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|
| 609 |
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| 610 |
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]
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| 612 |
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}
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| 613 |
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}
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| 614 |
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}
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| 615 |
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}
|
| 616 |
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],
|
| 617 |
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"quality_check": {
|
| 618 |
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"success": false,
|
| 619 |
+
"message": "Barrel and grip section are swapped with mask colors and visual descriptions; central cyan area is printed barrel, pink front area is grip."
|
| 620 |
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}
|
| 621 |
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}
|
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/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 |
+
oid sha256:24f4dfb7f290769144bd4b03f11536d3c3d8c6d14566094031ad8a1afe0b265b
|
| 3 |
+
size 3782640
|
dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.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>
|