Add asset desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee
Browse files- .gitattributes +1 -1
- dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/affordance/affordance_annot.json +394 -0
- dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/stapler_038.urdf +1 -0
.gitattributes
CHANGED
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@@ -6287,4 +6287,4 @@ dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/affo
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| 6287 |
dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6288 |
dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6289 |
dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6290 |
-
dataset/desktop_supplies/office_stationery/
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| 6287 |
dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6288 |
dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6289 |
dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6290 |
+
dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "astronaut helmet shell",
|
| 5 |
+
"mask_color": "Teal",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the rounded helmet shell to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.55
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the helmet shell to steady the stapler while opening or adjusting it",
|
| 14 |
+
"confidence": 0.5
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"decorative astronaut-themed upper shell",
|
| 19 |
+
"enclose the upper stapler area",
|
| 20 |
+
"secondary handhold surface"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Large rounded astronaut-helmet-shaped upper shell, mostly white plastic with a glossy dark blue transparent visor on the front, smooth finish, mounted above the stapler base.",
|
| 23 |
+
"id": 10,
|
| 24 |
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"grasp_group": {
|
| 25 |
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"grasp_0": {
|
| 26 |
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"confidence": 0.9507359862327576,
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| 27 |
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"position": [
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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],
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| 32 |
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"orientation": {
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| 33 |
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"w": 0.011699364719399098,
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| 34 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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]
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| 39 |
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}
|
| 40 |
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},
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| 41 |
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"grasp_1": {
|
| 42 |
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"confidence": 0.9483641386032104,
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| 43 |
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"position": [
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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"orientation": {
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| 50 |
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"xyz": [
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| 53 |
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| 54 |
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| 55 |
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}
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| 56 |
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},
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| 57 |
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"grasp_2": {
|
| 58 |
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"confidence": 0.9480774402618408,
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| 59 |
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"position": [
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 66 |
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| 70 |
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"grasp_3": {
|
| 74 |
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"orientation": {
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| 85 |
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| 86 |
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]
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| 87 |
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|
| 88 |
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},
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| 89 |
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"grasp_4": {
|
| 90 |
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"confidence": 0.9476175308227539,
|
| 91 |
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"position": [
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| 92 |
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| 93 |
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| 94 |
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|
| 95 |
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],
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| 96 |
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"orientation": {
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| 104 |
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"grasp_5": {
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| 106 |
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"grasp_6": {
|
| 122 |
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"confidence": 0.946583092212677,
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| 123 |
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| 126 |
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| 127 |
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| 136 |
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"grasp_7": {
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| 138 |
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"confidence": 0.9464646577835083,
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"position": [
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| 152 |
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"grasp_8": {
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| 154 |
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"orientation": {
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| 168 |
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| 169 |
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"grasp_9": {
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| 170 |
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| 186 |
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| 187 |
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}
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}
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},
|
| 347 |
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{
|
| 348 |
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"part_name": "stapler body and base",
|
| 349 |
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"mask_color": "Magenta",
|
| 350 |
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"graspable": true,
|
| 351 |
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"grasp_scenarios": [
|
| 352 |
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{
|
| 353 |
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"scenario": "grasp the main body/base to lift and carry the stapler",
|
| 354 |
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"confidence": 0.94
|
| 355 |
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},
|
| 356 |
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{
|
| 357 |
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"scenario": "hold the upper body while pressing it down to staple papers",
|
| 358 |
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"confidence": 0.92
|
| 359 |
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},
|
| 360 |
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{
|
| 361 |
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"scenario": "grasp the body to open the stapler for reloading",
|
| 362 |
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"confidence": 0.82
|
| 363 |
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}
|
| 364 |
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],
|
| 365 |
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"functional_labels": [
|
| 366 |
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"main stapling structure",
|
| 367 |
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"support internal stapling mechanism",
|
| 368 |
+
"serve as primary grasp area",
|
| 369 |
+
"align staple path and base",
|
| 370 |
+
"provide structural frame"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Main stapler assembly in white plastic with a smooth matte-to-satin finish, including the elongated base and hinged upper body beneath and around the astronaut-themed top, plus the upright side module and attached coiled cable.",
|
| 373 |
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"id": 7,
|
| 374 |
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"grasp_group": {}
|
| 375 |
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},
|
| 376 |
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{
|
| 377 |
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"part_name": "small side peg/button",
|
| 378 |
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"mask_color": "Green",
|
| 379 |
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"graspable": false,
|
| 380 |
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"grasp_scenarios": [],
|
| 381 |
+
"functional_labels": [
|
| 382 |
+
"small protruding side feature",
|
| 383 |
+
"possible latch, fastener cover, or adjustment/release point"
|
| 384 |
+
],
|
| 385 |
+
"semantic_description": "Small light-gray rounded peg or button-like protrusion on the side of the stapler body near the front hinge area, smooth plastic and slightly raised from the surrounding white housing.",
|
| 386 |
+
"id": 1,
|
| 387 |
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"grasp_group": {}
|
| 388 |
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}
|
| 389 |
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],
|
| 390 |
+
"quality_check": {
|
| 391 |
+
"success": false,
|
| 392 |
+
"message": "Body description incorrectly includes upright side module and coiled cable; these are distinct phone-like parts, not stapler body/base."
|
| 393 |
+
}
|
| 394 |
+
}
|
dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:629595152528b7f407409ae379d238906e139f3d7ac20cf147fd61d482d63906
|
| 3 |
+
size 3798700
|
dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/stapler_038.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":"Major stapler body and side attachment are merged; tiny green bits are noise, not functional parts.","merge_groups":[{"colors":["Green","Magenta"],"target_part":"main body/base assembly","reason":"Green marks tiny nonfunctional fragments on body."}]}</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":"Major stapler body and side attachment are merged; tiny green bits are noise, not functional parts.","merge_groups":[{"colors":["Green","Magenta"],"target_part":"main body/base assembly","reason":"Green marks tiny nonfunctional fragments on body."}]}</PartSegChecker>
|