Add asset desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/affordance_annot.json +400 -0
- dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.urdf +1 -0
.gitattributes
CHANGED
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@@ -6409,3 +6409,4 @@ dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/affo
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6411 |
dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6409 |
dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6410 |
dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6411 |
dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6412 |
+
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top rim and bottom trim bands",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"finish the top rim",
|
| 10 |
+
"finish the bottom edge",
|
| 11 |
+
"provide protective edge trim",
|
| 12 |
+
"provide decorative accent"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Light tan leather-like trim with a matte finish and visible stitched edge, forming a thick band around the top rim and a narrower band around the lower outer edge of the holder.",
|
| 15 |
+
"id": 3,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "main holder body",
|
| 20 |
+
"mask_color": "Orange",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the side walls around the cylindrical body to pick up the holder",
|
| 25 |
+
"confidence": 0.87
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the body to reposition or rotate the holder on a desk",
|
| 29 |
+
"confidence": 0.84
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "stabilize the body while inserting or removing pens or tools",
|
| 33 |
+
"confidence": 0.62
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"contain pens and small tools",
|
| 38 |
+
"provide the main storage volume",
|
| 39 |
+
"form the main structure",
|
| 40 |
+
"provide the decorative exterior surface"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Dark brown mug-shaped body with a coated leather or faux-leather appearance, smooth slightly textured surface, tan monogram pattern, and gold logo text on one side, forming the main container wall and base surface.",
|
| 43 |
+
"id": 4,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_0": {
|
| 46 |
+
"confidence": 0.9518939256668091,
|
| 47 |
+
"position": [
|
| 48 |
+
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|
| 49 |
+
0.013344606559257954,
|
| 50 |
+
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|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.15079860874626025,
|
| 54 |
+
"xyz": [
|
| 55 |
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|
| 56 |
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|
| 57 |
+
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|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_1": {
|
| 62 |
+
"confidence": 0.9491824507713318,
|
| 63 |
+
"position": [
|
| 64 |
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|
| 65 |
+
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|
| 66 |
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|
| 67 |
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],
|
| 68 |
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"orientation": {
|
| 69 |
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"w": 0.06265415121311152,
|
| 70 |
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"xyz": [
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_2": {
|
| 78 |
+
"confidence": 0.9469757080078125,
|
| 79 |
+
"position": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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"orientation": {
|
| 85 |
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"w": 0.022179886600287742,
|
| 86 |
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"xyz": [
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_3": {
|
| 94 |
+
"confidence": 0.9451501369476318,
|
| 95 |
+
"position": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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],
|
| 100 |
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"orientation": {
|
| 101 |
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"w": 0.15157069980978335,
|
| 102 |
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"xyz": [
|
| 103 |
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|
| 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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"grasp_4": {
|
| 110 |
+
"confidence": 0.9426870346069336,
|
| 111 |
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"position": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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],
|
| 116 |
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"orientation": {
|
| 117 |
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"w": 0.14270789500588268,
|
| 118 |
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"xyz": [
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| 119 |
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|
| 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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"grasp_5": {
|
| 126 |
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"confidence": 0.942479133605957,
|
| 127 |
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"position": [
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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],
|
| 132 |
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"orientation": {
|
| 133 |
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"w": 0.058853172860071044,
|
| 134 |
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"xyz": [
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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]
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"grasp_6": {
|
| 142 |
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"confidence": 0.9356610178947449,
|
| 143 |
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"position": [
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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],
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| 148 |
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"orientation": {
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"w": 0.13923944919162545,
|
| 150 |
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|
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|
| 154 |
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]
|
| 155 |
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}
|
| 156 |
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},
|
| 157 |
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"grasp_7": {
|
| 158 |
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"confidence": 0.9325947761535645,
|
| 159 |
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"position": [
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| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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],
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| 164 |
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"orientation": {
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| 165 |
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"w": 0.19364057934870704,
|
| 166 |
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"xyz": [
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| 167 |
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|
| 169 |
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|
| 170 |
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]
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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"grasp_8": {
|
| 174 |
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"confidence": 0.9318647980690002,
|
| 175 |
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"position": [
|
| 176 |
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|
| 177 |
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| 178 |
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|
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],
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"orientation": {
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| 181 |
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|
| 186 |
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| 389 |
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"semantic_description": "Small curved tan handle with a smooth matte leather-like surface, attached vertically to the side like a mug handle and much smaller than the main body.",
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],
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"quality_check": {
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| 397 |
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"success": false,
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| 398 |
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"message": "Missed separate front decorative tab; body description incorrectly includes base and ignores hardware visibility."
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| 399 |
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}
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| 400 |
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}
|
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/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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oid sha256:ae574ca54323b3f0b9401b8987f386b5bc6de9fb0003fcf4b847e3f0b47d0aa7
|
| 3 |
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size 3784900
|
dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
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