Add asset desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/affordance/affordance_annot.json +562 -0
- dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/correction_tape_017.urdf +4 -3
.gitattributes
CHANGED
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@@ -6318,3 +6318,4 @@ dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/affo
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| 6318 |
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6319 |
dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6320 |
dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6318 |
dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6319 |
dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6320 |
dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6321 |
+
dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,562 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main housing",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad body to pick up and reposition the correction tape dispenser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while applying correction tape to paper",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the dispenser body while removing or replacing the cap",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"enclose internal tape mechanism",
|
| 23 |
+
"provide primary handhold",
|
| 24 |
+
"support tape application",
|
| 25 |
+
"protect internal components"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large teardrop-shaped bright green translucent plastic body with a smooth glossy finish, printed white 'fusion' text and yellow/brown graphics on the top face, forming most of the dispenser casing.",
|
| 28 |
+
"id": 11,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_21": {
|
| 31 |
+
"confidence": 0.9646785259246826,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09939376439433545,
|
| 34 |
+
0.027198965690331534,
|
| 35 |
+
-0.0027672321812133305
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.09849309969018603,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6981750007456995,
|
| 41 |
+
0.08168727032606682,
|
| 42 |
+
-0.7043990115792591
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_22": {
|
| 47 |
+
"confidence": 0.9635958671569824,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1016100439010188,
|
| 50 |
+
-0.03448211119393818,
|
| 51 |
+
-0.0033427529779146425
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.11491788305354925,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6938044912141308,
|
| 57 |
+
0.09508169653361753,
|
| 58 |
+
0.704548564053523
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9634701609611511,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10172490205150098,
|
| 66 |
+
-0.02305320740561001,
|
| 67 |
+
-0.006210435814864468
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.0758435763993904,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6935948061538032,
|
| 73 |
+
0.06054057433938431,
|
| 74 |
+
0.71379887619278
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.9629063606262207,
|
| 80 |
+
"position": [
|
| 81 |
+
0.10292183037381619,
|
| 82 |
+
-0.01813030705670826,
|
| 83 |
+
-0.006966464388824534
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.08521195558718218,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6940248418961389,
|
| 89 |
+
0.027815397322788593,
|
| 90 |
+
0.7143491759131692
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.9615263938903809,
|
| 96 |
+
"position": [
|
| 97 |
+
0.1052380147157237,
|
| 98 |
+
-0.02872427084366791,
|
| 99 |
+
0.0018195147349615581
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.09267906847532384,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7110857172665622,
|
| 105 |
+
0.07679451156003059,
|
| 106 |
+
0.6927267108754369
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_26": {
|
| 111 |
+
"confidence": 0.9607887268066406,
|
| 112 |
+
"position": [
|
| 113 |
+
0.10076593782287091,
|
| 114 |
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0.039430780219845474,
|
| 527 |
+
0.11550111233373173,
|
| 528 |
+
-0.0007876590170781128
|
| 529 |
+
],
|
| 530 |
+
"orientation": {
|
| 531 |
+
"w": 0.5975163149058238,
|
| 532 |
+
"xyz": [
|
| 533 |
+
0.3925735555995498,
|
| 534 |
+
-0.5771346060951233,
|
| 535 |
+
0.39468456178664835
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
"grasp_19": {
|
| 540 |
+
"confidence": 0.6511033177375793,
|
| 541 |
+
"position": [
|
| 542 |
+
-0.09359117422718555,
|
| 543 |
+
0.019494987122016028,
|
| 544 |
+
0.0016780096993898042
|
| 545 |
+
],
|
| 546 |
+
"orientation": {
|
| 547 |
+
"w": 0.05479779389606558,
|
| 548 |
+
"xyz": [
|
| 549 |
+
-0.7020763589939853,
|
| 550 |
+
0.025251874340058378,
|
| 551 |
+
-0.7095409295933442
|
| 552 |
+
]
|
| 553 |
+
}
|
| 554 |
+
}
|
| 555 |
+
}
|
| 556 |
+
}
|
| 557 |
+
],
|
| 558 |
+
"quality_check": {
|
| 559 |
+
"success": true,
|
| 560 |
+
"message": "YES"
|
| 561 |
+
}
|
| 562 |
+
}
|
dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:654f26e12a611ab78cdcfa2c7428420b867491db4537870184edf190ad42fe18
|
| 3 |
+
size 3816844
|
dataset/desktop_supplies/office_stationery/449ea53d00d45e47ad6acb07cdcc88ef/correction_tape_017.urdf
CHANGED
|
@@ -51,16 +51,17 @@
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
-
<part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
-
<mesh filename="
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
-
<PartSegChecker>NO:
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|
|
|
|
| 51 |
</link>
|
| 52 |
<custom_data>
|
| 53 |
<affordance>
|
| 54 |
+
<part_count>5</part_count>
|
| 55 |
<visual_seg>
|
| 56 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 57 |
<geometry>
|
| 58 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
+
<PartSegChecker>NO: {"summary":"Missing clear functional separation of the tape wheel/nozzle area; only small noisy fragments can be merged.","merge_groups":[{"colors":["Green","Magenta"],"target_part":"main body","reason":"tiny scattered spots are noise on housing"},{"colors":["Indigo","Brown"],"target_part":"main body","reason":"small edge streaks are boundary noise"}]}</PartSegChecker>
|
| 65 |
</quality>
|
| 66 |
</custom_data>
|
| 67 |
</robot>
|