Add asset desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/affordance_annot.json +600 -0
- dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.urdf +1 -0
.gitattributes
CHANGED
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@@ -6303,3 +6303,4 @@ dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/affo
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| 6303 |
dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6304 |
dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6305 |
dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6303 |
dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6304 |
dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6305 |
dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6306 |
+
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,600 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cap",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to pull it off and uncap the marker",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the capped end to pick up or reposition the marker",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the cap to align and press it back onto the barrel for recapping",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the marker tip",
|
| 23 |
+
"help prevent ink from drying out",
|
| 24 |
+
"provide a pull-off grip",
|
| 25 |
+
"protect surrounding objects from the tip"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A medium-sized salmon/coral plastic cap with a smooth slightly glossy finish and an integrated clip, mounted on one end of the marker as a rounded cylindrical cover.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.981475830078125,
|
| 32 |
+
"position": [
|
| 33 |
+
0.06204497697763145,
|
| 34 |
+
0.08548467232321855,
|
| 35 |
+
-0.0037138803745619953
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3675928077472779,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6075723108084045,
|
| 41 |
+
0.35278012574983053,
|
| 42 |
+
-0.6093255268797971
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.9805933237075806,
|
| 48 |
+
"position": [
|
| 49 |
+
0.04144036280922592,
|
| 50 |
+
-0.013163464158424176,
|
| 51 |
+
0.09558328782441095
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.140066554043898,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.6887722279259724,
|
| 57 |
+
-0.7095224013937457,
|
| 58 |
+
0.05051871333093192
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
+
"confidence": 0.9801550507545471,
|
| 64 |
+
"position": [
|
| 65 |
+
0.016872160835191607,
|
| 66 |
+
-0.008562061018892564,
|
| 67 |
+
0.09936713968636468
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.03962869470358521,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7044527999039497,
|
| 73 |
+
-0.708540714415668,
|
| 74 |
+
-0.012077883875539139
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.9795645475387573,
|
| 80 |
+
"position": [
|
| 81 |
+
0.009610484121367335,
|
| 82 |
+
-0.0041703679744387046,
|
| 83 |
+
0.09995262866141275
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.0044076750589047385,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.7139858868161494,
|
| 89 |
+
-0.6990108068915988,
|
| 90 |
+
-0.03985746701293835
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_7": {
|
| 95 |
+
"confidence": 0.9795078635215759,
|
| 96 |
+
"position": [
|
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+
"xyz": [
|
| 510 |
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-0.6688387960617667,
|
| 511 |
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0.6906635273845168,
|
| 512 |
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-0.20029007986693925
|
| 513 |
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]
|
| 514 |
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}
|
| 515 |
+
},
|
| 516 |
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"grasp_51": {
|
| 517 |
+
"confidence": 0.9664750099182129,
|
| 518 |
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"position": [
|
| 519 |
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-0.08657164988107979,
|
| 520 |
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0.0026745488721644506,
|
| 521 |
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0.08132726495387033
|
| 522 |
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],
|
| 523 |
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"orientation": {
|
| 524 |
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"w": 0.16813710332658746,
|
| 525 |
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"xyz": [
|
| 526 |
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-0.7195427242163026,
|
| 527 |
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0.6301856589643192,
|
| 528 |
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-0.23844122493401368
|
| 529 |
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]
|
| 530 |
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}
|
| 531 |
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},
|
| 532 |
+
"grasp_52": {
|
| 533 |
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"confidence": 0.962303876876831,
|
| 534 |
+
"position": [
|
| 535 |
+
-0.05168613535352051,
|
| 536 |
+
-0.010584013551124372,
|
| 537 |
+
0.09686685149790719
|
| 538 |
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],
|
| 539 |
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"orientation": {
|
| 540 |
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"w": 0.037479044624457315,
|
| 541 |
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"xyz": [
|
| 542 |
+
0.7146760259153659,
|
| 543 |
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0.6915129619145411,
|
| 544 |
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0.09820042107870774
|
| 545 |
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]
|
| 546 |
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}
|
| 547 |
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},
|
| 548 |
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"grasp_57": {
|
| 549 |
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"confidence": 0.9510526657104492,
|
| 550 |
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"position": [
|
| 551 |
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-0.035593436332419515,
|
| 552 |
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0.09623755885695573,
|
| 553 |
+
-0.007494730118196458
|
| 554 |
+
],
|
| 555 |
+
"orientation": {
|
| 556 |
+
"w": 0.5090520091081581,
|
| 557 |
+
"xyz": [
|
| 558 |
+
0.49702884241620837,
|
| 559 |
+
0.4975258459438686,
|
| 560 |
+
-0.49628259534985614
|
| 561 |
+
]
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
{
|
| 567 |
+
"part_name": "ring near tip",
|
| 568 |
+
"mask_color": "Magenta",
|
| 569 |
+
"graspable": false,
|
| 570 |
+
"grasp_scenarios": [],
|
| 571 |
+
"functional_labels": [
|
| 572 |
+
"visually separate front sections",
|
| 573 |
+
"mark the transition near the tip",
|
| 574 |
+
"provide a colored accent band"
|
| 575 |
+
],
|
| 576 |
+
"semantic_description": "A very thin bright pink plastic ring with a smooth glossy surface encircling the marker near the tip, visible as a narrow band between the darker collar and the tip.",
|
| 577 |
+
"id": 7,
|
| 578 |
+
"grasp_group": {}
|
| 579 |
+
},
|
| 580 |
+
{
|
| 581 |
+
"part_name": "marker tip",
|
| 582 |
+
"mask_color": "Red",
|
| 583 |
+
"graspable": false,
|
| 584 |
+
"grasp_scenarios": [],
|
| 585 |
+
"functional_labels": [
|
| 586 |
+
"write",
|
| 587 |
+
"draw",
|
| 588 |
+
"transfer ink to a surface",
|
| 589 |
+
"make marks"
|
| 590 |
+
],
|
| 591 |
+
"semantic_description": "A small pointed writing tip at the front end, appearing bright pink to reddish in color and darker than the surrounding plastic, with a conical shape suited for marking.",
|
| 592 |
+
"id": 0,
|
| 593 |
+
"grasp_group": {}
|
| 594 |
+
}
|
| 595 |
+
],
|
| 596 |
+
"quality_check": {
|
| 597 |
+
"success": false,
|
| 598 |
+
"message": "Multiple part descriptions use wrong visible colors; tip ring/tip colors and barrel/cap colors mismatch RGB image."
|
| 599 |
+
}
|
| 600 |
+
}
|
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e1dfcbbe79af1ceee391217854ac6d79160706629fbd11464bb09406155b0446
|
| 3 |
+
size 3788440
|
dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.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>
|