Add asset desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/affordance_annot.json +686 -0
- dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/sharpener_027.urdf +1 -0
.gitattributes
CHANGED
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@@ -6488,3 +6488,4 @@ dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/affo
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| 6488 |
dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6489 |
dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6488 |
dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6489 |
dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6490 |
dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6491 |
+
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and twisting a pencil",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the body for transport or storage handling",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"house the sharpening mechanism",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support pencil insertion",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stabilize during sharpening"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded orange plastic body with a glossy smooth hard surface, shaped like a small fox torso and head, with black ear tips, printed facial details, and a visible seam around the midsection.",
|
| 29 |
+
"id": 7,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_20": {
|
| 32 |
+
"confidence": 0.9644985198974609,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0012240130745340139,
|
| 35 |
+
0.0006670473685517209,
|
| 36 |
+
0.10820034798234701
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.03841261569055794,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.9987255318214349,
|
| 42 |
+
0.03187454052311148,
|
| 43 |
+
-0.0074697195557739335
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_21": {
|
| 48 |
+
"confidence": 0.9641815423965454,
|
| 49 |
+
"position": [
|
| 50 |
+
0.008675330580445006,
|
| 51 |
+
-0.0708305842399568,
|
| 52 |
+
0.09373152907937765
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.044548499311851494,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.023348473904856414,
|
| 58 |
+
-0.962974677958091,
|
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}
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| 664 |
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}
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| 665 |
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},
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| 666 |
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{
|
| 667 |
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"part_name": "pencil insertion hole",
|
| 668 |
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"mask_color": "Purple",
|
| 669 |
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"graspable": false,
|
| 670 |
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"grasp_scenarios": [],
|
| 671 |
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"functional_labels": [
|
| 672 |
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"receive the pencil tip",
|
| 673 |
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"guide pencil alignment",
|
| 674 |
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"provide entry to the internal sharpener",
|
| 675 |
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"define sharpening direction"
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| 676 |
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],
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| 677 |
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"semantic_description": "Small circular opening on the top surface with a dark recessed center and an orange rim, serving as the pencil entry point.",
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| 678 |
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"id": 5,
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| 679 |
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"grasp_group": {}
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}
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],
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| 682 |
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"quality_check": {
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| 683 |
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"success": false,
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| 684 |
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"message": "Tail description mismatches image; body color/identity details slightly inaccurate. Corrected semantic descriptions needed."
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| 685 |
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}
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| 686 |
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}
|
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:818e38e33ee25c069d384650e1d14e9a00290f7df5afe0b6d055c86664dafc92
|
| 3 |
+
size 3782900
|
dataset/desktop_supplies/office_stationery/c2527704ca055bdb85697bbf110a9819/sharpener_027.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>NO: {"summary":"Body and lower support are over-merged; visible face panel and top opening are not separately segmented.","merge_groups":[]}</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>NO: {"summary":"Body and lower support are over-merged; visible face panel and top opening are not separately segmented.","merge_groups":[]}</PartSegChecker>
|