Add asset desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/affordance_annot.json +360 -0
- dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/stapler_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -6378,3 +6378,4 @@ dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/affo
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6380 |
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6378 |
dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6379 |
dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6380 |
dataset/desktop_supplies/office_stationery/7afe400ef1355b28b6ae6a718ab1a3e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6381 |
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dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,360 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stapler housing",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stapler from the sides around the outer housing to pick it up and reposition it",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer housing/base area to stabilize the stapler while operating it",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp across the top arm and lower body to move the stapler between work areas",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"provide structural enclosure",
|
| 24 |
+
"support pressing during stapling",
|
| 25 |
+
"protect internal mechanism"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light lavender plastic outer housing with a smooth matte finish and rounded rectangular form, covering the top arm and lower body. White printed lettering is visible on the top side.",
|
| 28 |
+
"id": 3,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9843547344207764,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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| 39 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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| 48 |
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| 63 |
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| 66 |
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| 67 |
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"orientation": {
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| 75 |
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|
| 77 |
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"grasp_3": {
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| 79 |
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| 83 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_4": {
|
| 95 |
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"confidence": 0.9814591407775879,
|
| 96 |
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"position": [
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"orientation": {
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"grasp_5": {
|
| 111 |
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"grasp_10": {
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}
|
| 334 |
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}
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| 335 |
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},
|
| 336 |
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{
|
| 337 |
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"part_name": "metal stapling mechanism tip",
|
| 338 |
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"mask_color": "Purple",
|
| 339 |
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"graspable": false,
|
| 340 |
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"grasp_scenarios": [
|
| 341 |
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{
|
| 342 |
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"scenario": "small exposed metal tip may be pinched only during maintenance or jam inspection",
|
| 343 |
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"confidence": 0.24
|
| 344 |
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}
|
| 345 |
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],
|
| 346 |
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"functional_labels": [
|
| 347 |
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"drive or form staples at the front end",
|
| 348 |
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"contact paper during stapling",
|
| 349 |
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"part of the internal metal mechanism"
|
| 350 |
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],
|
| 351 |
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"semantic_description": "Small exposed silver metal component with a smooth reflective finish, visible near the front opening between the lavender top and base as a compact angular mechanism tip.",
|
| 352 |
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"id": 5,
|
| 353 |
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"grasp_group": {}
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| 354 |
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}
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],
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| 356 |
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"quality_check": {
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| 357 |
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"success": true,
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| 358 |
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"message": "YES"
|
| 359 |
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}
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| 360 |
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}
|
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a661043cd633cc2f53faca0678403edb98b64c594a5866cb5225d3fc40218e4
|
| 3 |
+
size 3781424
|
dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/stapler_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":"Top arm and base are merged; visible functional boundary is missing 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":"Top arm and base are merged; visible functional boundary is missing and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
|