Add asset desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/affordance_annot.json +1026 -0
- dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.urdf +1 -0
.gitattributes
CHANGED
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@@ -6316,3 +6316,4 @@ dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/affo
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| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6317 |
dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/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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| 6316 |
dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6317 |
dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/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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dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1026 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
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{
|
| 4 |
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"part_name": "top cover",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the top cover to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "press the top cover downward during stapling",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "lift the top cover to open the stapler for reloading",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
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"press to drive staples",
|
| 23 |
+
"cover the staple channel",
|
| 24 |
+
"provide main handhold",
|
| 25 |
+
"open for reloading"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large off-white plastic upper shell with a smooth matte finish and rounded rectangular shape, forming the hinged top of the stapler.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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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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| 50 |
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| 55 |
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| 63 |
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}
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}
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},
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{
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"part_name": "anvil plate",
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"functional_labels": [
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"bend staple legs",
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"support paper at exit point",
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"provide stapling contact surface"
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],
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"semantic_description": "Small shiny silver metal plate near the front of the base, serving as the staple-clinching contact point.",
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"id": 1,
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},
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{
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"part_name": "hinge side cap",
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"mask_color": "Pink",
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"grasp_scenarios": [],
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| 820 |
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| 821 |
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"cover side of hinge area",
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"finish outer housing contour",
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| 823 |
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"protect hinge-side opening"
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| 824 |
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],
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"semantic_description": "Small off-white side piece at the rear hinge area, matching the plastic housing with a smooth matte finish.",
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| 826 |
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"id": 8,
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| 827 |
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"grasp_group": {}
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},
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{
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"part_name": "staple pusher slider",
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"mask_color": "Yellow",
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"graspable": true,
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| 833 |
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"grasp_scenarios": [
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| 834 |
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{
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"scenario": "pinch the small internal slider while pulling it back to reload staples",
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}
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],
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"push staples forward",
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"maintain feed tension",
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"support staple advancement"
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| 843 |
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],
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"semantic_description": "Small light-colored internal slider/tab visible along the magazine near the rear-middle area; despite the yellow mask, the RGB part appears pale off-white or metallic.",
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|
| 979 |
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0.1069190006237477,
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| 980 |
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|
| 981 |
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],
|
| 982 |
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| 983 |
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|
| 984 |
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| 985 |
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0.46234476239485156,
|
| 986 |
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0.05130517185724881,
|
| 987 |
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0.003073102110060378
|
| 988 |
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|
| 989 |
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| 990 |
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}
|
| 991 |
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}
|
| 992 |
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},
|
| 993 |
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{
|
| 994 |
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"part_name": "rear internal tab",
|
| 995 |
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"mask_color": "Purple",
|
| 996 |
+
"graspable": false,
|
| 997 |
+
"grasp_scenarios": [],
|
| 998 |
+
"functional_labels": [
|
| 999 |
+
"support internal mechanism",
|
| 1000 |
+
"locate rear internal parts",
|
| 1001 |
+
"help retain internal assembly"
|
| 1002 |
+
],
|
| 1003 |
+
"semantic_description": "Small internal piece near the rear underside/side of the stapler, mostly obscured by the housing and visible only as a minor recessed component.",
|
| 1004 |
+
"id": 5,
|
| 1005 |
+
"grasp_group": {}
|
| 1006 |
+
},
|
| 1007 |
+
{
|
| 1008 |
+
"part_name": "front internal support",
|
| 1009 |
+
"mask_color": "Teal",
|
| 1010 |
+
"graspable": false,
|
| 1011 |
+
"grasp_scenarios": [],
|
| 1012 |
+
"functional_labels": [
|
| 1013 |
+
"support stapling mechanism",
|
| 1014 |
+
"connect internal moving parts",
|
| 1015 |
+
"maintain structural alignment"
|
| 1016 |
+
],
|
| 1017 |
+
"semantic_description": "Small internal support piece visible near the front under the top cover; in the RGB image it appears as a light metal or pale structural component.",
|
| 1018 |
+
"id": 10,
|
| 1019 |
+
"grasp_group": {}
|
| 1020 |
+
}
|
| 1021 |
+
],
|
| 1022 |
+
"quality_check": {
|
| 1023 |
+
"success": false,
|
| 1024 |
+
"message": "Several small parts are misidentified or over-specified from ambiguous internal masks; base description also incorrectly claims visible underside rubber pad."
|
| 1025 |
+
}
|
| 1026 |
+
}
|
dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e7ff551be932c5bcb116c3cbce0d1844bc917258f8b867235313c26f0182f78b
|
| 3 |
+
size 3789200
|
dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.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>
|