Add asset desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/affordance_annot.json +910 -0
- dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.urdf +1 -0
.gitattributes
CHANGED
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@@ -6678,3 +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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| 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/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,910 @@
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| 16 |
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| 20 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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],
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{
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},
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{
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],
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| 769 |
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"grasp_12": {
|
| 770 |
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"confidence": 0.9592494964599609,
|
| 771 |
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"position": [
|
| 772 |
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0.05412797231110744,
|
| 773 |
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-0.10112118162214756,
|
| 774 |
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0.015173172694630921
|
| 775 |
+
],
|
| 776 |
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"orientation": {
|
| 777 |
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"w": 0.5535822824399331,
|
| 778 |
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"xyz": [
|
| 779 |
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-0.3283631573009724,
|
| 780 |
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-0.6738315797744597,
|
| 781 |
+
-0.36287090761672597
|
| 782 |
+
]
|
| 783 |
+
}
|
| 784 |
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},
|
| 785 |
+
"grasp_13": {
|
| 786 |
+
"confidence": 0.9575746655464172,
|
| 787 |
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"position": [
|
| 788 |
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0.0013635896320920438,
|
| 789 |
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-0.11604339070618153,
|
| 790 |
+
0.021848072414286435
|
| 791 |
+
],
|
| 792 |
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"orientation": {
|
| 793 |
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"w": 0.06707582554393376,
|
| 794 |
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"xyz": [
|
| 795 |
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-0.0327193485954197,
|
| 796 |
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0.7360698340833194,
|
| 797 |
+
0.672778921494755
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
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},
|
| 801 |
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"grasp_16": {
|
| 802 |
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"confidence": 0.9383322596549988,
|
| 803 |
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"position": [
|
| 804 |
+
0.05675541583332233,
|
| 805 |
+
-0.10138645954430103,
|
| 806 |
+
5.427747964859009e-06
|
| 807 |
+
],
|
| 808 |
+
"orientation": {
|
| 809 |
+
"w": 0.3755650231912978,
|
| 810 |
+
"xyz": [
|
| 811 |
+
-0.6327384870179872,
|
| 812 |
+
0.33007008046487696,
|
| 813 |
+
0.5913092781137618
|
| 814 |
+
]
|
| 815 |
+
}
|
| 816 |
+
},
|
| 817 |
+
"grasp_17": {
|
| 818 |
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"confidence": 0.9364148378372192,
|
| 819 |
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"position": [
|
| 820 |
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0.002301353233633563,
|
| 821 |
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-0.10833726264536381,
|
| 822 |
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0.007737969630397856
|
| 823 |
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],
|
| 824 |
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"orientation": {
|
| 825 |
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"w": 0.7295463613405746,
|
| 826 |
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"xyz": [
|
| 827 |
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-0.6834917098212694,
|
| 828 |
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-0.014905223920839816,
|
| 829 |
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-0.019468527427496794
|
| 830 |
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]
|
| 831 |
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}
|
| 832 |
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}
|
| 833 |
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}
|
| 834 |
+
},
|
| 835 |
+
{
|
| 836 |
+
"part_name": "latch button",
|
| 837 |
+
"mask_color": "Green",
|
| 838 |
+
"graspable": false,
|
| 839 |
+
"grasp_scenarios": [],
|
| 840 |
+
"functional_labels": [
|
| 841 |
+
"actuation point",
|
| 842 |
+
"assist sliding control",
|
| 843 |
+
"visual marker on the latch"
|
| 844 |
+
],
|
| 845 |
+
"semantic_description": "Tiny circular light gray insert on top of the rectangular latch, with a smooth hard surface and slightly raised button-like appearance.",
|
| 846 |
+
"id": 1,
|
| 847 |
+
"grasp_group": {}
|
| 848 |
+
},
|
| 849 |
+
{
|
| 850 |
+
"part_name": "side logo letter group",
|
| 851 |
+
"mask_color": "Cyan",
|
| 852 |
+
"graspable": false,
|
| 853 |
+
"grasp_scenarios": [],
|
| 854 |
+
"functional_labels": [
|
| 855 |
+
"brand marking",
|
| 856 |
+
"visual identification",
|
| 857 |
+
"decoration"
|
| 858 |
+
],
|
| 859 |
+
"semantic_description": "Bright blue printed logo lettering on the side wall of the box, flat and non-structural, used for branding.",
|
| 860 |
+
"id": 6,
|
| 861 |
+
"grasp_group": {}
|
| 862 |
+
},
|
| 863 |
+
{
|
| 864 |
+
"part_name": "side logo accent",
|
| 865 |
+
"mask_color": "Yellow",
|
| 866 |
+
"graspable": false,
|
| 867 |
+
"grasp_scenarios": [],
|
| 868 |
+
"functional_labels": [
|
| 869 |
+
"brand marking",
|
| 870 |
+
"visual identification",
|
| 871 |
+
"color accent"
|
| 872 |
+
],
|
| 873 |
+
"semantic_description": "Small yellow printed accent within the side logo, flat and decorative as part of the branding graphic.",
|
| 874 |
+
"id": 3,
|
| 875 |
+
"grasp_group": {}
|
| 876 |
+
},
|
| 877 |
+
{
|
| 878 |
+
"part_name": "side logo letter segment",
|
| 879 |
+
"mask_color": "Blue",
|
| 880 |
+
"graspable": false,
|
| 881 |
+
"grasp_scenarios": [],
|
| 882 |
+
"functional_labels": [
|
| 883 |
+
"brand marking",
|
| 884 |
+
"visual identification",
|
| 885 |
+
"logo segmentation"
|
| 886 |
+
],
|
| 887 |
+
"semantic_description": "Small darker blue printed segment of the side logo lettering, flat and decorative rather than a physical component.",
|
| 888 |
+
"id": 2,
|
| 889 |
+
"grasp_group": {}
|
| 890 |
+
},
|
| 891 |
+
{
|
| 892 |
+
"part_name": "side logo letter segment",
|
| 893 |
+
"mask_color": "Magenta",
|
| 894 |
+
"graspable": false,
|
| 895 |
+
"grasp_scenarios": [],
|
| 896 |
+
"functional_labels": [
|
| 897 |
+
"brand marking",
|
| 898 |
+
"visual identification",
|
| 899 |
+
"logo segmentation"
|
| 900 |
+
],
|
| 901 |
+
"semantic_description": "Small light cyan to pale blue printed segment of the side logo near the lettering edge, flat and decorative rather than a physical component.",
|
| 902 |
+
"id": 7,
|
| 903 |
+
"grasp_group": {}
|
| 904 |
+
}
|
| 905 |
+
],
|
| 906 |
+
"quality_check": {
|
| 907 |
+
"success": false,
|
| 908 |
+
"message": "Logo part colors/descriptions mismatch RGB; bottom pad graspability overstated; top piece is a slider cap not clearly a latch."
|
| 909 |
+
}
|
| 910 |
+
}
|
dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/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 sha256:79dc4f6937338aed395b54477ee6b1167878c6e54ce90c8cc9334fbe3a44bc9c
|
| 3 |
+
size 3784368
|
dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|