Add asset desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/affordance_annot.json +304 -0
- dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -6614,4 +6614,4 @@ dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/affordanc
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| 6614 |
dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6615 |
dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6617 |
-
dataset/desktop_supplies/office_tools/
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| 6614 |
dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6615 |
dataset/desktop_supplies/office_tools/975523fc1df05dbda2067ff05e1eb32b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6616 |
dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6617 |
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dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "box body",
|
| 5 |
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"mask_color": "Pink",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the rectangular box body from the long sides to pick up and move the staples case",
|
| 10 |
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"confidence": 0.95
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the box body steady while accessing or opening the front section",
|
| 14 |
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"confidence": 0.86
|
| 15 |
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}
|
| 16 |
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],
|
| 17 |
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"functional_labels": [
|
| 18 |
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"contain staples",
|
| 19 |
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"support the overall structure",
|
| 20 |
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"provide the main grasp surface",
|
| 21 |
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"protect contents"
|
| 22 |
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],
|
| 23 |
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"semantic_description": "Small rectangular light gray to translucent plastic box body with a smooth slightly glossy surface, rounded edges, and a shallow compact form making up most of the container.",
|
| 24 |
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"id": 8,
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| 25 |
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| 26 |
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| 230 |
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-0.005683413681167921
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| 231 |
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]
|
| 232 |
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}
|
| 233 |
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},
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| 234 |
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"grasp_16": {
|
| 235 |
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"confidence": 0.9714453220367432,
|
| 236 |
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"position": [
|
| 237 |
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-0.09863370517268777,
|
| 238 |
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0.005822923209052533,
|
| 239 |
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-0.0015186493837973103
|
| 240 |
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],
|
| 241 |
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"orientation": {
|
| 242 |
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"w": 0.7012131437113892,
|
| 243 |
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"xyz": [
|
| 244 |
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0.015773527589778326,
|
| 245 |
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0.7126671012298293,
|
| 246 |
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0.012527000376668622
|
| 247 |
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]
|
| 248 |
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}
|
| 249 |
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},
|
| 250 |
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"grasp_17": {
|
| 251 |
+
"confidence": 0.971065878868103,
|
| 252 |
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"position": [
|
| 253 |
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|
| 254 |
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0.01043404423398897,
|
| 255 |
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-0.005131858270033263
|
| 256 |
+
],
|
| 257 |
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"orientation": {
|
| 258 |
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"w": 0.716808046092906,
|
| 259 |
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"xyz": [
|
| 260 |
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|
| 261 |
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0.6972316937402602,
|
| 262 |
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-0.005996658882135673
|
| 263 |
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]
|
| 264 |
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}
|
| 265 |
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},
|
| 266 |
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"grasp_18": {
|
| 267 |
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"confidence": 0.971057653427124,
|
| 268 |
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"position": [
|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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],
|
| 273 |
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"orientation": {
|
| 274 |
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"w": 0.1714734596408444,
|
| 275 |
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"xyz": [
|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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]
|
| 280 |
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}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "front transparent cover panel",
|
| 286 |
+
"mask_color": "Blue",
|
| 287 |
+
"graspable": false,
|
| 288 |
+
"grasp_scenarios": [],
|
| 289 |
+
"functional_labels": [
|
| 290 |
+
"cover the front opening",
|
| 291 |
+
"retain and protect contents",
|
| 292 |
+
"provide visibility into the front section",
|
| 293 |
+
"form the front face detail"
|
| 294 |
+
],
|
| 295 |
+
"semantic_description": "Transparent to translucent front-facing plastic panel covering most of one long side, with a smooth glossy surface and shallow molded grooves; an orange printed label is attached over part of this panel on the front.",
|
| 296 |
+
"id": 2,
|
| 297 |
+
"grasp_group": {}
|
| 298 |
+
}
|
| 299 |
+
],
|
| 300 |
+
"quality_check": {
|
| 301 |
+
"success": true,
|
| 302 |
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"message": "YES"
|
| 303 |
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}
|
| 304 |
+
}
|
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:48b8b459948375435d04299733ce76d2a5e6cdd10d1aede8e58c93cb346e4eed
|
| 3 |
+
size 3782456
|
dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.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":"Label side is separated, but true lid/body boundary is missed and cannot be fixed by merging.","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":"Label side is separated, but true lid/body boundary is missed and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
|