Add asset desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/affordance_annot.json +1201 -0
- dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.urdf +4 -3
.gitattributes
CHANGED
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@@ -6605,3 +6605,4 @@ dataset/desktop_supplies/office_tools/89cb2da45e90546d84768c395753d733/affordanc
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| 6605 |
dataset/desktop_supplies/office_tools/8a18548793525af8a445f9addd8cef13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6606 |
dataset/desktop_supplies/office_tools/8c6de38e1748550daef2b3e8678cfa15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6607 |
dataset/desktop_supplies/office_tools/8af89760b9dc5b708f1e601bdef7cb18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6605 |
dataset/desktop_supplies/office_tools/8a18548793525af8a445f9addd8cef13/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6606 |
dataset/desktop_supplies/office_tools/8c6de38e1748550daef2b3e8678cfa15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6607 |
dataset/desktop_supplies/office_tools/8af89760b9dc5b708f1e601bdef7cb18/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6608 |
+
dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1201 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stamp housing",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main housing from the sides to pick up and reposition the stamp",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing while pressing the stamp onto a surface",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the housing to stabilize the stamp while removing or replacing the bottom cover",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal mechanism",
|
| 24 |
+
"support pressing action",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rectangular outer body with black side panels and a white outer frame, hard plastic construction, mostly smooth matte surfaces, rounded vertical edges, and a slightly tapered box shape forming the main shell of the stamp.",
|
| 28 |
+
"id": 5,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9836971163749695,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1240222305059433,
|
| 34 |
+
-0.0008903865818865597,
|
| 35 |
+
0.006356511730700731
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4938591232561191,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.4942454418831827,
|
| 41 |
+
-0.503920047511257,
|
| 42 |
+
-0.5078279189554737
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9812770485877991,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
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|
| 51 |
+
0.0045662266202270985
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4965593756266402,
|
| 55 |
+
"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
+
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|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9811360239982605,
|
| 64 |
+
"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0035724597983062267
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9805967211723328,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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0.006966393848415464,
|
| 83 |
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0.03672252735123038
|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.980471670627594,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4967145412845137,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9801053404808044,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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0.005451917590107769,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.018150840260785027,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
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"confidence": 0.9793302416801453,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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0.001386393269058317,
|
| 131 |
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-0.0015709027647972107
|
| 132 |
+
],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5081907433716338,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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0.4861963821482834
|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9788857102394104,
|
| 144 |
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"position": [
|
| 145 |
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0.12596852332353592,
|
| 146 |
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-0.00027563666299101897,
|
| 147 |
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0.01585171138867736
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5221059126449469,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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|
| 154 |
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0.47209435600333366
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9787471890449524,
|
| 160 |
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"position": [
|
| 161 |
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0.12280059605836868,
|
| 162 |
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|
| 163 |
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0.010892388876527548
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.5055137252415677,
|
| 167 |
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"xyz": [
|
| 168 |
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|
| 169 |
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|
| 170 |
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0.49627586630521664
|
| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9785981774330139,
|
| 176 |
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"position": [
|
| 177 |
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|
| 178 |
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0.001795614545699209,
|
| 179 |
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0.12594721978530288
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.00669216453622059,
|
| 183 |
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"xyz": [
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| 184 |
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| 186 |
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0.009676053888048455
|
| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_10": {
|
| 191 |
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"confidence": 0.9783182144165039,
|
| 192 |
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"position": [
|
| 193 |
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|
| 194 |
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0.001581608725246042,
|
| 195 |
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| 196 |
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],
|
| 197 |
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"orientation": {
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| 198 |
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"w": 0.4972528747334547,
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| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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0.48653683094934475
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_11": {
|
| 207 |
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"confidence": 0.9782593250274658,
|
| 208 |
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"position": [
|
| 209 |
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0.12761958688497543,
|
| 210 |
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0.0032659428543411195,
|
| 211 |
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0.006004538852721453
|
| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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|
| 215 |
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| 216 |
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0.5057846357401374,
|
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|
| 218 |
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|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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},
|
| 222 |
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"grasp_12": {
|
| 223 |
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"confidence": 0.9782574772834778,
|
| 224 |
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"position": [
|
| 225 |
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0.12502605468034744,
|
| 226 |
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0.015651992987841368
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| 228 |
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],
|
| 229 |
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"orientation": {
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]
|
| 236 |
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}
|
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|
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|
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|
| 1160 |
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0.5388030343335546
|
| 1161 |
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|
| 1162 |
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|
| 1163 |
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}
|
| 1164 |
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}
|
| 1165 |
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},
|
| 1166 |
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{
|
| 1167 |
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"part_name": "stamp die surface",
|
| 1168 |
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"mask_color": "Gray",
|
| 1169 |
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"graspable": false,
|
| 1170 |
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"grasp_scenarios": [],
|
| 1171 |
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"functional_labels": [
|
| 1172 |
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"apply impression",
|
| 1173 |
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"contact paper",
|
| 1174 |
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"create stamp mark",
|
| 1175 |
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"provide printing surface"
|
| 1176 |
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],
|
| 1177 |
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"semantic_description": "Dark nearly black rectangular internal stamping surface with fine ribbed or textured detail, recessed inside the bottom opening and protected by the surrounding frame.",
|
| 1178 |
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"id": 15,
|
| 1179 |
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"grasp_group": {}
|
| 1180 |
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},
|
| 1181 |
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{
|
| 1182 |
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"part_name": "side guide/support piece",
|
| 1183 |
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"mask_color": "Burnt Orange",
|
| 1184 |
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"graspable": false,
|
| 1185 |
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"grasp_scenarios": [],
|
| 1186 |
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"functional_labels": [
|
| 1187 |
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"link moving parts",
|
| 1188 |
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"support internal mechanism",
|
| 1189 |
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"guide motion",
|
| 1190 |
+
"stabilize the lower assembly"
|
| 1191 |
+
],
|
| 1192 |
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"semantic_description": "Small narrow internal support piece visible near one lower side inside the opening, tan plastic, smooth hard surface, partly obscured by the front frame and base components.",
|
| 1193 |
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"id": 18,
|
| 1194 |
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"grasp_group": {}
|
| 1195 |
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}
|
| 1196 |
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],
|
| 1197 |
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"quality_check": {
|
| 1198 |
+
"success": false,
|
| 1199 |
+
"message": "Teal mask merges opening frame and side button; gray die surface not present in mask, causing part identity mismatch."
|
| 1200 |
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}
|
| 1201 |
+
}
|
dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19b9f0f1442007dca706dd1c9775ec85fa2ccc4cbffc332de61467def667e288
|
| 3 |
+
size 3804760
|
dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>8</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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>NO: {"summary":"Bottom stamp/base is split from side housing and several tiny fragments are accidental noise.","merge_groups":[{"colors":["Magenta","Teal"],"target_part":"stamp base assembly","reason":"same movable lower unit, boundary is artificial"},{"colors":["Jade","Burnt Orange"],"target_part":"small noise fragments","reason":"tiny slivers without distinct function"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|