Add asset desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/944b2aeb86ed503294e88a3dc58c479a.urdf +1 -0
- dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/affordance_annot.json +485 -0
- dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -6416,3 +6416,4 @@ dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/affo
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| 6416 |
dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6417 |
dataset/desktop_supplies/office_stationery/92e609c34ad15d818f6183e6218ef0f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6418 |
dataset/desktop_supplies/office_stationery/9365d5ef84f150b4a1961d45fe139645/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6416 |
dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6417 |
dataset/desktop_supplies/office_stationery/92e609c34ad15d818f6183e6218ef0f4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6418 |
dataset/desktop_supplies/office_stationery/9365d5ef84f150b4a1961d45fe139645/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6419 |
+
dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/944b2aeb86ed503294e88a3dc58c479a.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,485 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front cover",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the front cover edge or corner to open the book",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the closed book by clamping the front cover against the back cover",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the pages",
|
| 19 |
+
"protect the contents",
|
| 20 |
+
"provide opening surface"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Large rectangular red outer front cover with a smooth glossy finish, occupying the main top face. It has rounded edges and contains a darker red inset panel near the center.",
|
| 23 |
+
"id": 11,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_20": {
|
| 26 |
+
"confidence": 0.022524764761328697,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.029254369204863906,
|
| 29 |
+
-0.01780936634168029,
|
| 30 |
+
0.10423325235024095
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.17556535491447314,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.6849148510387006,
|
| 36 |
+
-0.7069278327544122,
|
| 37 |
+
-0.017930205172802752
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_24": {
|
| 42 |
+
"confidence": 0.9623205661773682,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.15793606056831777,
|
| 45 |
+
-0.0016435850411653519,
|
| 46 |
+
0.02499456750229001
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.6427587558850117,
|
| 50 |
+
"xyz": [
|
| 51 |
+
-0.054833405802029014,
|
| 52 |
+
0.7619257776593276,
|
| 53 |
+
0.05765057397398941
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_26": {
|
| 58 |
+
"confidence": 0.9527489542961121,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.15840115561150014,
|
| 61 |
+
0.022905458230525255,
|
| 62 |
+
0.031093758065253496
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.06417922727417913,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.7975980555226966,
|
| 68 |
+
-0.009561740172390865,
|
| 69 |
+
-0.5996890375334354
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_27": {
|
| 74 |
+
"confidence": 0.9442125558853149,
|
| 75 |
+
"position": [
|
| 76 |
+
0.16038275347091258,
|
| 77 |
+
-0.03581700241193175,
|
| 78 |
+
0.023937967140227556
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.6313536949788235,
|
| 82 |
+
"xyz": [
|
| 83 |
+
-0.019514205235987375,
|
| 84 |
+
-0.7752429347228701,
|
| 85 |
+
0.0031780171281660693
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_28": {
|
| 90 |
+
"confidence": 0.9414666295051575,
|
| 91 |
+
"position": [
|
| 92 |
+
-0.15309887542389333,
|
| 93 |
+
0.03219173336401582,
|
| 94 |
+
0.045807159040123224
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.5636214710860635,
|
| 98 |
+
"xyz": [
|
| 99 |
+
-0.05965162399940907,
|
| 100 |
+
0.8238745729680915,
|
| 101 |
+
-0.0017913965668155205
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_29": {
|
| 106 |
+
"confidence": 0.9324830174446106,
|
| 107 |
+
"position": [
|
| 108 |
+
0.15826306329108775,
|
| 109 |
+
0.040070338640362024,
|
| 110 |
+
0.03121218318119645
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
+
"w": 0.6066396372275176,
|
| 114 |
+
"xyz": [
|
| 115 |
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0.003577987479634793,
|
| 116 |
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-0.7949668252091554,
|
| 117 |
+
0.0018153145560656594
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_30": {
|
| 122 |
+
"confidence": 0.9256100654602051,
|
| 123 |
+
"position": [
|
| 124 |
+
0.15392797277309,
|
| 125 |
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0.04076519841328263,
|
| 126 |
+
0.04578919569030404
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.03655330127584567,
|
| 130 |
+
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},
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"graspable": false,
|
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"grasp_scenarios": [],
|
| 429 |
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"functional_labels": [
|
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"provide writable pages",
|
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|
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|
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"form the exposed paper block"
|
| 434 |
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],
|
| 435 |
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"semantic_description": "Exposed cream-colored page stack visible as bands along the open side and top edge, with matte paper texture and layered straight edges.",
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"id": 0,
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"grasp_group": {}
|
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},
|
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{
|
| 440 |
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"part_name": "decorative inset panel",
|
| 441 |
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"mask_color": "Purple",
|
| 442 |
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"graspable": false,
|
| 443 |
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"grasp_scenarios": [],
|
| 444 |
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"functional_labels": [
|
| 445 |
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"decorate the cover",
|
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"provide visual detail",
|
| 447 |
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"add surface styling"
|
| 448 |
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],
|
| 449 |
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"semantic_description": "Darker red inset panel on the front cover, glossy and slightly recessed, with an irregular elongated rectangular shape centered on the top surface.",
|
| 450 |
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|
| 451 |
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"grasp_group": {}
|
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},
|
| 453 |
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{
|
| 454 |
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"part_name": "corner strap detail",
|
| 455 |
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"mask_color": "Orange",
|
| 456 |
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"graspable": false,
|
| 457 |
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"grasp_scenarios": [],
|
| 458 |
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"functional_labels": [
|
| 459 |
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"decorate the cover corner",
|
| 460 |
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"reinforce or accent the corner area"
|
| 461 |
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],
|
| 462 |
+
"semantic_description": "Small curved red corner piece on the front cover, matching the glossy cover material and wrapping inward from a corner as a decorative or reinforcing accent.",
|
| 463 |
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"id": 4,
|
| 464 |
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"grasp_group": {}
|
| 465 |
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},
|
| 466 |
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{
|
| 467 |
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"part_name": "cover edge trim",
|
| 468 |
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"mask_color": "Green",
|
| 469 |
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"graspable": false,
|
| 470 |
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"grasp_scenarios": [],
|
| 471 |
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"functional_labels": [
|
| 472 |
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"finish the cover edge",
|
| 473 |
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"separate adjacent cover surfaces",
|
| 474 |
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"provide trim detail"
|
| 475 |
+
],
|
| 476 |
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"semantic_description": "Thin narrow trim or seam line along part of the front cover perimeter, visible as a slim edge detail following the cover boundary.",
|
| 477 |
+
"id": 1,
|
| 478 |
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"grasp_group": {}
|
| 479 |
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}
|
| 480 |
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],
|
| 481 |
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"quality_check": {
|
| 482 |
+
"success": false,
|
| 483 |
+
"message": "Page-block mask/color and graspability are wrong; trim/detail parts are mislabeled or too speculative."
|
| 484 |
+
}
|
| 485 |
+
}
|
dataset/desktop_supplies/office_stationery/944b2aeb86ed503294e88a3dc58c479a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:33b3e8a1a68d691f8c2096ef8b59500a17e6ead6e677743b87d014406bae43e6
|
| 3 |
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size 485948
|