Add asset desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/affordance_annot.json +712 -0
- dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -6667,3 +6667,4 @@ dataset/desktop_supplies/office_tools/d96ffbd0686c54f1af2940efd3e620a3/affordanc
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| 6667 |
dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6668 |
dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6669 |
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6667 |
dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6668 |
dataset/desktop_supplies/office_tools/dae8caed57e75202b64be22e18b7db84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6669 |
dataset/desktop_supplies/office_tools/dbae42f31db45d4abe1be8d9c7f21cab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6670 |
+
dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,712 @@
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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 edges to remove or open the box",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top to stabilize the box during manipulation",
|
| 14 |
+
"confidence": 0.64
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the box opening",
|
| 19 |
+
"protect stored contents",
|
| 20 |
+
"provide top access when removed",
|
| 21 |
+
"support opening and closing"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded-square light brown wooden top with a smooth matte finish, visible fine wood grain, engraved logo and text on top, forming the upper cover of the small box.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.33948150277137756,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.07456843298859894,
|
| 30 |
+
0.0007238641555886716,
|
| 31 |
+
0.09928922611288726
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.19418133886071828,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6817585749909213,
|
| 37 |
+
0.6762596145638681,
|
| 38 |
+
-0.2004290068192125
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.3193233907222748,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.11155363661237061,
|
| 46 |
+
-0.0024654324224684387,
|
| 47 |
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"functional_labels": [
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"provide access to the interior",
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| 673 |
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|
| 674 |
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],
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| 675 |
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"semantic_description": "Pale beige wooden interior opening region with a smooth matte surface and fine wood texture, recessed inside the front face and visible as the light inner cavity edge rather than a separate movable part.",
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| 676 |
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| 677 |
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| 687 |
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"decorate the lid"
|
| 688 |
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],
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| 689 |
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"semantic_description": "Small darker brown inset or engraved emblem centered on the lid top, with a smooth finish and rounded-square shape, serving as decorative branding.",
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| 690 |
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"id": 5,
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},
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{
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"part_name": "printed lid text",
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"display branding",
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"provide visual identification"
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],
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"semantic_description": "Thin light-colored engraved or printed lettering and barcode-like markings on the lid surface, flat and nonstructural, positioned above and below the top emblem as product labeling.",
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| 704 |
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"id": 8,
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| 705 |
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}
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],
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| 708 |
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"quality_check": {
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| 709 |
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"success": false,
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| 710 |
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"message": "Cyan part is misidentified; it is the bottom panel, not a front interior opening."
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| 711 |
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}
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| 712 |
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}
|
dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/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:fa9bba7361a58896d953fc698e56670ffec4b36ad9c362876a8f0c56b07463da
|
| 3 |
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size 3783276
|
dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|