Add asset desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/affordance_annot.json +850 -0
- dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/sharpener_010.urdf +4 -3
.gitattributes
CHANGED
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@@ -6493,3 +6493,4 @@ dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/affo
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| 6493 |
dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6493 |
dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6494 |
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6495 |
dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6496 |
+
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,850 @@
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|
| 1 |
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{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "sharpener body",
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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{
|
| 9 |
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| 10 |
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| 11 |
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},
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| 12 |
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{
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| 13 |
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| 14 |
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| 15 |
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},
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| 16 |
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{
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| 17 |
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"scenario": "grasp the body while inserting or removing the shavings bin",
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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"main housing",
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| 23 |
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"support internal cutting mechanism",
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| 24 |
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"provide main grasp surface",
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| 25 |
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"stabilize the sharpener during use"
|
| 26 |
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],
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| 27 |
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| 28 |
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| 29 |
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| 32 |
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},
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{
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"guide pencil into cutter",
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"mount the blade assembly",
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"define sharpening opening",
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| 361 |
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"support cutting alignment"
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| 362 |
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],
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"semantic_description": "Small silver metal plate on the top surface with a smooth reflective finish, flat and rectangular, surrounding the pencil entry slot.",
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},
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{
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"part_name": "shavings reservoir",
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{
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"scenario": "grasp the reservoir to pull it out for emptying shavings",
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},
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{
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"scenario": "hold the reservoir while reinserting it into the body",
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}
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],
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"collect shavings",
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| 384 |
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"detach for cleaning",
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"close the lower front housing"
|
| 386 |
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],
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| 387 |
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"semantic_description": "Medium translucent light gray plastic bin with a smooth slightly glossy hard surface, occupying the lower front portion and visibly separable from the main body.",
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| 796 |
+
}
|
| 797 |
+
},
|
| 798 |
+
"grasp_19": {
|
| 799 |
+
"confidence": 0.9791344404220581,
|
| 800 |
+
"position": [
|
| 801 |
+
-0.004644231754355133,
|
| 802 |
+
0.017861839849501848,
|
| 803 |
+
0.1236203556181863
|
| 804 |
+
],
|
| 805 |
+
"orientation": {
|
| 806 |
+
"w": 0.030569397720969952,
|
| 807 |
+
"xyz": [
|
| 808 |
+
0.9992424645136337,
|
| 809 |
+
0.022272655265406255,
|
| 810 |
+
0.009161760918342915
|
| 811 |
+
]
|
| 812 |
+
}
|
| 813 |
+
}
|
| 814 |
+
}
|
| 815 |
+
},
|
| 816 |
+
{
|
| 817 |
+
"part_name": "power button",
|
| 818 |
+
"mask_color": "Navy",
|
| 819 |
+
"graspable": false,
|
| 820 |
+
"grasp_scenarios": [],
|
| 821 |
+
"functional_labels": [
|
| 822 |
+
"toggle power",
|
| 823 |
+
"control operation",
|
| 824 |
+
"provide user control point"
|
| 825 |
+
],
|
| 826 |
+
"semantic_description": "Small black square button on the side of the housing, likely plastic with a smooth slightly glossy finish and a white power icon.",
|
| 827 |
+
"id": 13,
|
| 828 |
+
"grasp_group": {}
|
| 829 |
+
},
|
| 830 |
+
{
|
| 831 |
+
"part_name": "base pad",
|
| 832 |
+
"mask_color": "Violet",
|
| 833 |
+
"graspable": false,
|
| 834 |
+
"grasp_scenarios": [],
|
| 835 |
+
"functional_labels": [
|
| 836 |
+
"support on tabletop",
|
| 837 |
+
"improve friction",
|
| 838 |
+
"stabilize during use",
|
| 839 |
+
"protect underlying surface"
|
| 840 |
+
],
|
| 841 |
+
"semantic_description": "Dark textured pad area on the underside, likely rubber or textured plastic, flat and rectangular with a fine grippy pattern covering much of the base.",
|
| 842 |
+
"id": 20,
|
| 843 |
+
"grasp_group": {}
|
| 844 |
+
}
|
| 845 |
+
],
|
| 846 |
+
"quality_check": {
|
| 847 |
+
"success": false,
|
| 848 |
+
"message": "Mask colors and part identities mismatch; crank merged with body, base pad color wrong, button color wrong."
|
| 849 |
+
}
|
| 850 |
+
}
|
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bab8e88c4c5a1da029100ad650f9afb487febcc0c3f907513972781ce668a39d
|
| 3 |
+
size 3806848
|
dataset/desktop_supplies/office_stationery/c61d644ece7b5c138be3066f46494b50/sharpener_010.urdf
CHANGED
|
@@ -47,16 +47,17 @@
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
-
<part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
-
<mesh filename="
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
-
<PartSegChecker>NO:
|
| 60 |
</quality>
|
| 61 |
</custom_data>
|
| 62 |
</robot>
|
|
|
|
| 47 |
</link>
|
| 48 |
<custom_data>
|
| 49 |
<affordance>
|
| 50 |
+
<part_count>9</part_count>
|
| 51 |
<visual_seg>
|
| 52 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 53 |
<geometry>
|
| 54 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
+
<PartSegChecker>NO: {"summary":"Over-fragmented; several colors split the same body surfaces and shavings-bin area.","merge_groups":[{"colors":["Lime Green","Navy"],"target_part":"main body","reason":"thin band is same housing surface"},{"colors":["Hot Pink","Deep Sky Blue","Crimson"],"target_part":"shavings bin/front cover","reason":"same removable container split into pieces"},{"colors":["Burnt Orange","Gold"],"target_part":"blade/top assembly","reason":"same top sharpening assembly"}]}</PartSegChecker>
|
| 61 |
</quality>
|
| 62 |
</custom_data>
|
| 63 |
</robot>
|