Add asset desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/affordance_annot.json +813 -0
- dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -6645,3 +6645,4 @@ dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/affordanc
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| 6645 |
dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6646 |
dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6647 |
dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6645 |
dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6646 |
dataset/desktop_supplies/office_tools/bde96dd3d77d546f80e4d87ff9fb1fb3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6647 |
dataset/desktop_supplies/office_tools/bece2c2efeaf5cedad9ff40a6f498a6b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6648 |
+
dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,813 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tape strip end",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the free tape end to start peeling tape from the roll",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the loose tape end to pull and dispense more tape",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the tape end to position it for sticking or trimming",
|
| 18 |
+
"confidence": 0.8
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"start peeling tape",
|
| 23 |
+
"pull tape from roll",
|
| 24 |
+
"provide a grasp point for dispensing",
|
| 25 |
+
"adhere to target surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Thin translucent whitish tape flap with a glossy smooth slightly tacky surface, extending freely from the roll outer edge.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "outer tape roll",
|
| 33 |
+
"mask_color": "Orange",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the cylindrical outer roll to pick up the tape",
|
| 38 |
+
"confidence": 0.9
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the roll body to stabilize it while pulling the tape end",
|
| 42 |
+
"confidence": 0.87
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"scenario": "grasp the roll side to place or reorient the tape roll",
|
| 46 |
+
"confidence": 0.82
|
| 47 |
+
}
|
| 48 |
+
],
|
| 49 |
+
"functional_labels": [
|
| 50 |
+
"main grasp surface",
|
| 51 |
+
"store adhesive tape",
|
| 52 |
+
"support rolling dispense",
|
| 53 |
+
"provide structural body"
|
| 54 |
+
],
|
| 55 |
+
"semantic_description": "Large cylindrical body of translucent milky-white tape with a glossy smooth side surface, forming the main outer body around the cardboard core.",
|
| 56 |
+
"id": 4,
|
| 57 |
+
"grasp_group": {}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"part_name": "inner cardboard core",
|
| 61 |
+
"mask_color": "Green",
|
| 62 |
+
"graspable": true,
|
| 63 |
+
"grasp_scenarios": [
|
| 64 |
+
{
|
| 65 |
+
"scenario": "insert a finger or tool into the center hole to lift or stabilize the roll",
|
| 66 |
+
"confidence": 0.62
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"scenario": "hook the inner core with a gripper finger to reorient the roll",
|
| 70 |
+
"confidence": 0.5
|
| 71 |
+
}
|
| 72 |
+
],
|
| 73 |
+
"functional_labels": [
|
| 74 |
+
"maintain center opening",
|
| 75 |
+
"support the wound tape roll",
|
| 76 |
+
"interface with spindle or finger",
|
| 77 |
+
"provide internal structure"
|
| 78 |
+
],
|
| 79 |
+
"semantic_description": "Round inner core visible through the center hole, appearing as a light interior opening bordered by a brown cardboard rim with a smooth recessed inner surface.",
|
| 80 |
+
"id": 1,
|
| 81 |
+
"grasp_group": {
|
| 82 |
+
"grasp_0": {
|
| 83 |
+
"confidence": 0.114988312125206,
|
| 84 |
+
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| 85 |
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| 86 |
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0.01459060376510024,
|
| 87 |
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0.1053961229044944
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| 88 |
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],
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| 89 |
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"orientation": {
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| 91 |
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| 93 |
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| 94 |
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| 95 |
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]
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| 96 |
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}
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| 97 |
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},
|
| 98 |
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"grasp_1": {
|
| 99 |
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"confidence": 0.47266480326652527,
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| 100 |
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| 101 |
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],
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]
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}
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},
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|
| 115 |
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0.03435610723681748
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],
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]
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}
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},
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|
| 131 |
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| 132 |
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],
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| 142 |
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]
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| 144 |
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}
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| 145 |
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},
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| 146 |
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"grasp_10": {
|
| 147 |
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| 148 |
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],
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},
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"grasp_13": {
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],
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"orientation": {
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]
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}
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}
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| 178 |
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}
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| 179 |
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},
|
| 180 |
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{
|
| 181 |
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"part_name": "top rim of tape roll",
|
| 182 |
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"mask_color": "Cyan",
|
| 183 |
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"graspable": true,
|
| 184 |
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"grasp_scenarios": [
|
| 185 |
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{
|
| 186 |
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"scenario": "grasp across the top rim and opposite side to lift the roll",
|
| 187 |
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"confidence": 0.63
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"scenario": "pinch the upper edge to reorient the roll on a surface",
|
| 191 |
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|
| 192 |
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}
|
| 193 |
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],
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| 194 |
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"functional_labels": [
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| 195 |
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"define top edge",
|
| 196 |
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"guide tape winding",
|
| 197 |
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"support roll shape",
|
| 198 |
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"provide secondary contact surface"
|
| 199 |
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],
|
| 200 |
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"semantic_description": "Narrow annular top face of the tape roll, pale cream to whitish with a smooth slightly glossy finish and flat ring shape around the opening.",
|
| 201 |
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"id": 6,
|
| 202 |
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"grasp_group": {
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| 203 |
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| 204 |
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"confidence": 0.953535795211792,
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| 205 |
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0.005563786486163735
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],
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| 210 |
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| 216 |
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]
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| 217 |
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}
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| 218 |
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},
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| 219 |
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"grasp_82": {
|
| 220 |
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0.0030675968155264854
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],
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]
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}
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},
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| 236 |
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0.003520563943311572
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],
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}
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},
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0.0064356878865510225
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],
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]
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}
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},
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],
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},
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},
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},
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}
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},
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{
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{
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"scenario": "lightly pinch the exposed outer layer near the loose end to help locate or separate the tape start",
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}
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],
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],
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},
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{
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"part_name": "tape end edge",
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"mark free end boundary",
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],
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],
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| 811 |
+
"message": "Several mask-part mappings and descriptions are wrong; yellow is not exposed layer, red is not a separate tape-end edge part."
|
| 812 |
+
}
|
| 813 |
+
}
|
dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9de47b2bca33b5c997fe1fadb813e8438a11fbec8b50928d9e36c98baf31d17
|
| 3 |
+
size 3789320
|
dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.urdf
CHANGED
|
@@ -54,6 +54,7 @@
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 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>YES</PartSegChecker>
|