Add asset desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/affordance_annot.json +285 -0
- dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/stamp_017.urdf +1 -0
.gitattributes
CHANGED
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@@ -6630,4 +6630,4 @@ dataset/desktop_supplies/office_tools/a83d5010a07450d981df2de4c349d92c/affordanc
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| 6630 |
dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6631 |
dataset/desktop_supplies/office_tools/a90261fd9d9850b9b2ae9390b1e6af5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6632 |
dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6633 |
-
dataset/desktop_supplies/office_tools/
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| 6630 |
dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6631 |
dataset/desktop_supplies/office_tools/a90261fd9d9850b9b2ae9390b1e6af5d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6632 |
dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6633 |
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dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,285 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
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"part_name": "seal body",
|
| 5 |
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"mask_color": "Red",
|
| 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 main body from the sides to pick up and reposition the seal",
|
| 10 |
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"confidence": 0.93
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize and orient the seal while pressing the stamped face onto a surface",
|
| 14 |
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"confidence": 0.87
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "clamp the body gently during storage or transport",
|
| 18 |
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"confidence": 0.8
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
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"support pressing force",
|
| 24 |
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"provide structural mass",
|
| 25 |
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"stabilize the object during use"
|
| 26 |
+
],
|
| 27 |
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"semantic_description": "Large light beige to cream rectangular block with slightly rounded vertical edges and a smooth matte finish. The side faces appear mostly plain, while the bottom face shows an engraved seal pattern.",
|
| 28 |
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"id": 0,
|
| 29 |
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|
| 30 |
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| 31 |
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],
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},
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],
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}
|
| 158 |
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}
|
| 159 |
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},
|
| 160 |
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{
|
| 161 |
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"part_name": "bird handle",
|
| 162 |
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"mask_color": "Blue",
|
| 163 |
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"graspable": true,
|
| 164 |
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"grasp_scenarios": [
|
| 165 |
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{
|
| 166 |
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"scenario": "grasp the bird-shaped top gently to lift and orient the seal",
|
| 167 |
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"confidence": 0.64
|
| 168 |
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},
|
| 169 |
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{
|
| 170 |
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"scenario": "hold the bird handle from above for careful placement before a light press",
|
| 171 |
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"confidence": 0.57
|
| 172 |
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}
|
| 173 |
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],
|
| 174 |
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"functional_labels": [
|
| 175 |
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"provide a top grip",
|
| 176 |
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"aid lifting",
|
| 177 |
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"indicate upright orientation",
|
| 178 |
+
"decorate the seal"
|
| 179 |
+
],
|
| 180 |
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"semantic_description": "Small cream-colored bird-shaped top handle made of the same hard material, with a smooth matte surface and carved feather details, centered on the top.",
|
| 181 |
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"id": 2,
|
| 182 |
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"grasp_group": {
|
| 183 |
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],
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},
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],
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]
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},
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"position": [
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},
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| 239 |
+
"w": 0.019790625095973343,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.7080269972333834,
|
| 242 |
+
0.7054033358127726,
|
| 243 |
+
-0.026687753206333636
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_37": {
|
| 248 |
+
"confidence": 0.970559298992157,
|
| 249 |
+
"position": [
|
| 250 |
+
-0.025373099531861953,
|
| 251 |
+
-0.0056806625216268,
|
| 252 |
+
0.14430009294301271
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.09987085904639133,
|
| 256 |
+
"xyz": [
|
| 257 |
+
0.70990997101387,
|
| 258 |
+
0.682644600086226,
|
| 259 |
+
0.14159800331056574
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
}
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"part_name": "handle base",
|
| 267 |
+
"mask_color": "Yellow",
|
| 268 |
+
"graspable": false,
|
| 269 |
+
"grasp_scenarios": [],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"connect handle to body",
|
| 272 |
+
"support the top handle",
|
| 273 |
+
"distribute pressing load",
|
| 274 |
+
"provide structural transition"
|
| 275 |
+
],
|
| 276 |
+
"semantic_description": "Small round cream-colored pedestal between the bird and the body, with a smooth matte finish, centered on the top as a connector.",
|
| 277 |
+
"id": 3,
|
| 278 |
+
"grasp_group": {}
|
| 279 |
+
}
|
| 280 |
+
],
|
| 281 |
+
"quality_check": {
|
| 282 |
+
"success": true,
|
| 283 |
+
"message": "YES"
|
| 284 |
+
}
|
| 285 |
+
}
|
dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06c7f592974c5b919fa634558138f421ee05c0a6523be68c8779b5b92aaf143b
|
| 3 |
+
size 3779436
|
dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/stamp_017.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 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|