Add asset desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/affordance_annot.json +626 -0
- dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.urdf +1 -0
.gitattributes
CHANGED
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@@ -8168,3 +8168,4 @@ dataset/desktop_supplies/office_stationery/0773f8fc18b45b85a3a5a65c99e746e6/affo
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| 8168 |
dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8169 |
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8170 |
dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8168 |
dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8169 |
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8170 |
dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8171 |
+
dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,626 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front housing shell",
|
| 5 |
+
"mask_color": "Lime Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main housing to pick up and reposition the correction tape dispenser",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing while aligning the dispenser for use",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the dispenser body during handling or storage",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal mechanism",
|
| 24 |
+
"support printed product branding",
|
| 25 |
+
"position the dispenser during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white plastic front shell with a smooth slightly glossy hard surface and rounded rectangular form, making up the front half of the compact dispenser body and carrying red and blue printed branding.",
|
| 28 |
+
"id": 9,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_25": {
|
| 31 |
+
"confidence": 0.9863770604133606,
|
| 32 |
+
"position": [
|
| 33 |
+
0.11210910147929098,
|
| 34 |
+
0.027091853320598602,
|
| 35 |
+
0.008278621593490243
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6956610628771561,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.03779593346160304,
|
| 41 |
+
-0.7170370787369573,
|
| 42 |
+
0.022022277964867366
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_26": {
|
| 47 |
+
"confidence": 0.9856809377670288,
|
| 48 |
+
"position": [
|
| 49 |
+
0.11190133458876517,
|
| 50 |
+
0.04276617243885994,
|
| 51 |
+
0.0048466643784195185
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6989201062667799,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.11750060858225551,
|
| 57 |
+
-0.6998546088539838,
|
| 58 |
+
0.08892591582137001
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_27": {
|
| 63 |
+
"confidence": 0.9854735136032104,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10699339128041174,
|
| 66 |
+
0.0687306672334671,
|
| 67 |
+
0.011893718736246228
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.15636078247316615,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.7023812682485462,
|
| 73 |
+
0.19205250173653055,
|
| 74 |
+
-0.6673287767620117
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_29": {
|
| 79 |
+
"confidence": 0.9850280284881592,
|
| 80 |
+
"position": [
|
| 81 |
+
0.11328232950472739,
|
| 82 |
+
0.0035441508516669273,
|
| 83 |
+
0.004639763617888093
|
| 84 |
+
],
|
| 85 |
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|
| 495 |
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"w": 0.35872453235376156,
|
| 496 |
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"xyz": [
|
| 497 |
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-0.6146124054350617,
|
| 498 |
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-0.34639980348173915,
|
| 499 |
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-0.6112082109401955
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_21": {
|
| 504 |
+
"confidence": 0.982117235660553,
|
| 505 |
+
"position": [
|
| 506 |
+
0.1127865082671633,
|
| 507 |
+
-0.013048442080616951,
|
| 508 |
+
0.0015407162718474865
|
| 509 |
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],
|
| 510 |
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"orientation": {
|
| 511 |
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"w": 0.7105021096430972,
|
| 512 |
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"xyz": [
|
| 513 |
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0.009210392243307752,
|
| 514 |
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-0.7036138276716654,
|
| 515 |
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-0.005431609030543008
|
| 516 |
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]
|
| 517 |
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}
|
| 518 |
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},
|
| 519 |
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"grasp_23": {
|
| 520 |
+
"confidence": 0.9814376831054688,
|
| 521 |
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"position": [
|
| 522 |
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-0.0989236094901571,
|
| 523 |
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-0.08497197180986404,
|
| 524 |
+
-0.0032214277889579535
|
| 525 |
+
],
|
| 526 |
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"orientation": {
|
| 527 |
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"w": 0.16953496597457063,
|
| 528 |
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"xyz": [
|
| 529 |
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-0.6688593201378725,
|
| 530 |
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-0.166734409645801,
|
| 531 |
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-0.7043328345439891
|
| 532 |
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]
|
| 533 |
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}
|
| 534 |
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},
|
| 535 |
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"grasp_24": {
|
| 536 |
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"confidence": 0.9810475707054138,
|
| 537 |
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"position": [
|
| 538 |
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-0.09729798221087549,
|
| 539 |
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-0.08750386536121368,
|
| 540 |
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-0.0031879052985459566
|
| 541 |
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],
|
| 542 |
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"orientation": {
|
| 543 |
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"w": 0.6826983141572476,
|
| 544 |
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"xyz": [
|
| 545 |
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-0.1726360781220841,
|
| 546 |
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0.6821595002221928,
|
| 547 |
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0.19692184397391432
|
| 548 |
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]
|
| 549 |
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}
|
| 550 |
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}
|
| 551 |
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}
|
| 552 |
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},
|
| 553 |
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{
|
| 554 |
+
"part_name": "hanging loop tab",
|
| 555 |
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"mask_color": "Green",
|
| 556 |
+
"graspable": true,
|
| 557 |
+
"grasp_scenarios": [
|
| 558 |
+
{
|
| 559 |
+
"scenario": "hook or pinch the loop tab to lift or reposition the small dispenser",
|
| 560 |
+
"confidence": 0.58
|
| 561 |
+
},
|
| 562 |
+
{
|
| 563 |
+
"scenario": "hold the loop tab briefly while rotating the dispenser for inspection",
|
| 564 |
+
"confidence": 0.46
|
| 565 |
+
}
|
| 566 |
+
],
|
| 567 |
+
"functional_labels": [
|
| 568 |
+
"provide hanging point",
|
| 569 |
+
"assist retail display or storage",
|
| 570 |
+
"offer a small auxiliary handling point"
|
| 571 |
+
],
|
| 572 |
+
"semantic_description": "Small white plastic loop-shaped tab protruding from one end of the dispenser, with a rectangular opening and smooth molded surface.",
|
| 573 |
+
"id": 1,
|
| 574 |
+
"grasp_group": {
|
| 575 |
+
"grasp_1": {
|
| 576 |
+
"confidence": 0.7211940884590149,
|
| 577 |
+
"position": [
|
| 578 |
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-0.003654550891951658,
|
| 579 |
+
0.12714169919490814,
|
| 580 |
+
0.0495197877753526
|
| 581 |
+
],
|
| 582 |
+
"orientation": {
|
| 583 |
+
"w": 0.03473901139767165,
|
| 584 |
+
"xyz": [
|
| 585 |
+
0.014867876661346435,
|
| 586 |
+
0.8619176160499834,
|
| 587 |
+
-0.5056383791539255
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
}
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"part_name": "tape gear reel",
|
| 595 |
+
"mask_color": "Red",
|
| 596 |
+
"graspable": false,
|
| 597 |
+
"grasp_scenarios": [],
|
| 598 |
+
"functional_labels": [
|
| 599 |
+
"drive tape movement",
|
| 600 |
+
"wind or unwind correction tape",
|
| 601 |
+
"transfer rotation through the mechanism"
|
| 602 |
+
],
|
| 603 |
+
"semantic_description": "Small toothed reel visible through the translucent top window, appearing white to gray plastic with a hard smooth finish and gear-like circular shape inside the rear cover.",
|
| 604 |
+
"id": 0,
|
| 605 |
+
"grasp_group": {}
|
| 606 |
+
},
|
| 607 |
+
{
|
| 608 |
+
"part_name": "spindle hub",
|
| 609 |
+
"mask_color": "Purple",
|
| 610 |
+
"graspable": false,
|
| 611 |
+
"grasp_scenarios": [],
|
| 612 |
+
"functional_labels": [
|
| 613 |
+
"support reel rotation",
|
| 614 |
+
"locate tape spool",
|
| 615 |
+
"stabilize internal mechanism"
|
| 616 |
+
],
|
| 617 |
+
"semantic_description": "Tiny circular hub inside the visible mechanism, grayish and hard with a smooth finish, seated at the center of a reel near the top of the dispenser.",
|
| 618 |
+
"id": 5,
|
| 619 |
+
"grasp_group": {}
|
| 620 |
+
}
|
| 621 |
+
],
|
| 622 |
+
"quality_check": {
|
| 623 |
+
"success": false,
|
| 624 |
+
"message": "Several parts misidentified: green tab is applicator tip guard, not hanging loop; orange masked branding omitted/mislabeled; internal red/purple parts are overspecified ambiguously."
|
| 625 |
+
}
|
| 626 |
+
}
|
dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d4eaca1e3321f294c12ed82ed3991dc48768920f249ea7dc041bcdfebd319177
|
| 3 |
+
size 3784092
|
dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.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>
|