Add asset desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/affordance/affordance_annot.json +1318 -0
- dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/stamp_023.urdf +1 -0
.gitattributes
CHANGED
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@@ -6579,3 +6579,4 @@ dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/affordanc
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| 6579 |
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6579 |
dataset/desktop_supplies/office_tools/5db9954427f25c988d06796045db4782/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6580 |
dataset/desktop_supplies/office_tools/635729653e465f2eb2892f17b6ce2b1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6581 |
dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6582 |
+
dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1318 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle knob",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the knob to lift and position the stamp",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the knob to press the stamp onto a surface",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the knob to rotate and orient the stamp face",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip",
|
| 23 |
+
"lift the stamp",
|
| 24 |
+
"apply downward pressing force",
|
| 25 |
+
"orient the stamp"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bulb-shaped orange plastic knob with a light gray rounded top cap and a smooth surface, mounted on top as the main handle for the stamp.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9813296794891357,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.006335250451229513,
|
| 34 |
+
-0.05586070103890961,
|
| 35 |
+
0.10368208563886583
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.2897909961050408,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.9493499980648269,
|
| 41 |
+
-0.10686586055207414,
|
| 42 |
+
-0.05775333409618868
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9813096523284912,
|
| 48 |
+
"position": [
|
| 49 |
+
0.006252519437111914,
|
| 50 |
+
-0.06355542226083344,
|
| 51 |
+
0.10450045741163194
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.32418747789162355,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.9408314699372057,
|
| 57 |
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|
| 58 |
+
0.011781181764177666
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9805732369422913,
|
| 64 |
+
"position": [
|
| 65 |
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0.00560813129413873,
|
| 66 |
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|
| 67 |
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0.10287037468515337
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.2992669538030701,
|
| 71 |
+
"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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0.009179693096000446
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.978974461555481,
|
| 80 |
+
"position": [
|
| 81 |
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-0.048133013653568923,
|
| 82 |
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0.018875909016060177,
|
| 83 |
+
0.11015845066867769
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.204767399983711,
|
| 87 |
+
"xyz": [
|
| 88 |
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0.8076402820543652,
|
| 89 |
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0.5320195110616848,
|
| 90 |
+
0.15080691813289784
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9783878326416016,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.06400304834824055,
|
| 98 |
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0.010440489255415741,
|
| 99 |
+
0.09920813865028322
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.20605364483731814,
|
| 103 |
+
"xyz": [
|
| 104 |
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-0.6012304198909072,
|
| 105 |
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0.7288256665594592,
|
| 106 |
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-0.254709688491074
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9778794646263123,
|
| 112 |
+
"position": [
|
| 113 |
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0.023901991662569344,
|
| 114 |
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-0.055527905955386814,
|
| 115 |
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0.1059227583464235
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.2957275860616044,
|
| 119 |
+
"xyz": [
|
| 120 |
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-0.9104508331867421,
|
| 121 |
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-0.28697478728775444,
|
| 122 |
+
0.035636310876567205
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9774347543716431,
|
| 128 |
+
"position": [
|
| 129 |
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-0.048359831678681076,
|
| 130 |
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0.025797490940021817,
|
| 131 |
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0.11078832275234163
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.13073308147217153,
|
| 135 |
+
"xyz": [
|
| 136 |
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-0.49771171494423194,
|
| 137 |
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0.8256416340352722,
|
| 138 |
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-0.2313175357892849
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9773387312889099,
|
| 144 |
+
"position": [
|
| 145 |
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0.041034555179066956,
|
| 146 |
+
-0.03759400083072251,
|
| 147 |
+
0.1095042375382036
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.2576271055634098,
|
| 151 |
+
"xyz": [
|
| 152 |
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-0.867175412259186,
|
| 153 |
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-0.41190639239433147,
|
| 154 |
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0.10939928133592793
|
| 155 |
+
]
|
| 156 |
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}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.977338433265686,
|
| 160 |
+
"position": [
|
| 161 |
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0.023356769350357354,
|
| 162 |
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-0.05130729360826081,
|
| 163 |
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0.10489164269529283
|
| 164 |
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],
|
| 165 |
+
"orientation": {
|
| 166 |
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"w": 0.26223662426372896,
|
| 167 |
+
"xyz": [
|
| 168 |
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-0.9557254667882947,
|
| 169 |
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-0.09087020184722189,
|
| 170 |
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0.0977925940105118
|
| 171 |
+
]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9764869809150696,
|
| 176 |
+
"position": [
|
| 177 |
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0.04496440861839801,
|
| 178 |
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-0.021911020412517246,
|
| 179 |
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0.11181972897611558
|
| 180 |
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],
|
| 181 |
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"orientation": {
|
| 182 |
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"w": 0.22827787907623545,
|
| 183 |
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"xyz": [
|
| 184 |
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-0.812888079725435,
|
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|
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|
| 1276 |
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| 1277 |
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| 1279 |
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"define the bottom footprint"
|
| 1280 |
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],
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"semantic_description": "Large flat circular beige underside with a smooth slightly matte surface, forming the bottom face that meets the paper or work surface during stamping.",
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},
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{
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"part_name": "side button",
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|
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| 1290 |
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| 1291 |
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"actuate lock or release",
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"adjust mechanism state",
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"provide control input"
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| 1294 |
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],
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| 1295 |
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"semantic_description": "Small rounded rectangular light gray side button with a smooth plastic surface, protruding slightly from the body wall near the upper side.",
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| 1296 |
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"id": 0,
|
| 1297 |
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|
| 1298 |
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},
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| 1299 |
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{
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| 1300 |
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"part_name": "front label window",
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| 1301 |
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"mask_color": "Green",
|
| 1302 |
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"graspable": false,
|
| 1303 |
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"grasp_scenarios": [],
|
| 1304 |
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|
| 1305 |
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"identify stamp orientation",
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| 1306 |
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"display label or index",
|
| 1307 |
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"indicate marked face"
|
| 1308 |
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],
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| 1309 |
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"semantic_description": "Small rounded rectangular light gray inset on the side wall near the upper side of the cylindrical body.",
|
| 1310 |
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"id": 1,
|
| 1311 |
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"grasp_group": {}
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| 1312 |
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| 1313 |
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],
|
| 1314 |
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"quality_check": {
|
| 1315 |
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"success": false,
|
| 1316 |
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"message": "Front label window color/description mismatches image; it is green, not light gray, and is not a window."
|
| 1317 |
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}
|
| 1318 |
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}
|
dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8a9303a2a2d94a68341abc2449c4d0eb401996910414d9b3efecc9b032ac67dc
|
| 3 |
+
size 3786120
|
dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/stamp_023.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>
|