Add asset desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/affordance_annot.json +379 -0
- dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.urdf +1 -0
.gitattributes
CHANGED
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@@ -6673,3 +6673,4 @@ dataset/desktop_supplies/office_tools/dd8394532ee65ce4b8f2d07142f60545/affordanc
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| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6674 |
dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6673 |
dataset/desktop_supplies/office_tools/de7b175185f5540d837dcaca59977307/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6674 |
dataset/desktop_supplies/office_tools/df8450421228510f802d6fe8d541f448/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6675 |
dataset/desktop_supplies/office_tools/e03568439f5750f78bb9af38dc08df86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6676 |
+
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "box body",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the carton from opposite side faces to pick up the staples box",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the box body to reposition or place it on a surface",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the box while opening an end flap or dispensing staples",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain staples",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"main grasp surface",
|
| 25 |
+
"protect contents",
|
| 26 |
+
"support storage and stacking"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Rectangular small paperboard carton, mostly light blue and white, with a smooth matte printed surface, crisp folded edges, and visible branding and staple-size text on the top and sides.",
|
| 29 |
+
"id": 6,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.984721839427948,
|
| 33 |
+
"position": [
|
| 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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"orientation": {
|
| 39 |
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"w": 0.010814651180225348,
|
| 40 |
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"xyz": [
|
| 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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"grasp_1": {
|
| 48 |
+
"confidence": 0.983230710029602,
|
| 49 |
+
"position": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.5766312937624027,
|
| 56 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"grasp_2": {
|
| 64 |
+
"confidence": 0.9829744696617126,
|
| 65 |
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"position": [
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"orientation": {
|
| 71 |
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"w": 0.3718881564280099,
|
| 72 |
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"xyz": [
|
| 73 |
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| 74 |
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|
| 75 |
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|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"grasp_3": {
|
| 80 |
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"confidence": 0.9827538728713989,
|
| 81 |
+
"position": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.49500472066886303,
|
| 88 |
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"xyz": [
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9827243685722351,
|
| 97 |
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"position": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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],
|
| 102 |
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"orientation": {
|
| 103 |
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"w": 0.49656201513963644,
|
| 104 |
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"xyz": [
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_8": {
|
| 112 |
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"confidence": 0.9824109673500061,
|
| 113 |
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"position": [
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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],
|
| 118 |
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"orientation": {
|
| 119 |
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"w": 0.49016637087053366,
|
| 120 |
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"xyz": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
+
]
|
| 125 |
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}
|
| 126 |
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},
|
| 127 |
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"grasp_9": {
|
| 128 |
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"confidence": 0.9823393225669861,
|
| 129 |
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"position": [
|
| 130 |
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-0.0003119038010481745,
|
| 131 |
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0.10562481252418365,
|
| 132 |
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0.00014682264009024948
|
| 133 |
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],
|
| 134 |
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"orientation": {
|
| 135 |
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"w": 0.4792748963222449,
|
| 136 |
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"xyz": [
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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]
|
| 141 |
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}
|
| 142 |
+
},
|
| 143 |
+
"grasp_11": {
|
| 144 |
+
"confidence": 0.9821611642837524,
|
| 145 |
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"position": [
|
| 146 |
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-0.005638659029500559,
|
| 147 |
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0.10475984482036438,
|
| 148 |
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-0.0029098831437295303
|
| 149 |
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],
|
| 150 |
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"orientation": {
|
| 151 |
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"w": 0.4971654774807956,
|
| 152 |
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"xyz": [
|
| 153 |
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0.5080361415017881,
|
| 154 |
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|
| 155 |
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|
| 156 |
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]
|
| 157 |
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}
|
| 158 |
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},
|
| 159 |
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"grasp_14": {
|
| 160 |
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"confidence": 0.9819777607917786,
|
| 161 |
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"position": [
|
| 162 |
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0.11009874937008135,
|
| 163 |
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0.013481724876328371,
|
| 164 |
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|
| 165 |
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],
|
| 166 |
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"orientation": {
|
| 167 |
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"w": 0.031650458595684834,
|
| 168 |
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"xyz": [
|
| 169 |
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0.7008630689458191,
|
| 170 |
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|
| 171 |
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|
| 172 |
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]
|
| 173 |
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}
|
| 174 |
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},
|
| 175 |
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"grasp_17": {
|
| 176 |
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"confidence": 0.9816077947616577,
|
| 177 |
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"position": [
|
| 178 |
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|
| 179 |
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0.10524306712613907,
|
| 180 |
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-0.0020132503559580073
|
| 181 |
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],
|
| 182 |
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"orientation": {
|
| 183 |
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"w": 0.5062682823499866,
|
| 184 |
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"xyz": [
|
| 185 |
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0.5111629874156961,
|
| 186 |
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|
| 187 |
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|
| 188 |
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]
|
| 189 |
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}
|
| 190 |
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}
|
| 191 |
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}
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"part_name": "end flap panel",
|
| 195 |
+
"mask_color": "Olive",
|
| 196 |
+
"graspable": true,
|
| 197 |
+
"grasp_scenarios": [
|
| 198 |
+
{
|
| 199 |
+
"scenario": "pinch the short end flap area to start opening the carton",
|
| 200 |
+
"confidence": 0.74
|
| 201 |
+
},
|
| 202 |
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{
|
| 203 |
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"scenario": "hold the end panel lightly to stabilize the box during opening",
|
| 204 |
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"confidence": 0.46
|
| 205 |
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}
|
| 206 |
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],
|
| 207 |
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"functional_labels": [
|
| 208 |
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"close the carton end",
|
| 209 |
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"enable opening",
|
| 210 |
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"retain contents",
|
| 211 |
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"provide access to staples"
|
| 212 |
+
],
|
| 213 |
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"semantic_description": "Short rectangular end panel of the paperboard box on one narrow side, light blue-white printed paperboard with folded carton edges and a smooth matte finish.",
|
| 214 |
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"id": 14,
|
| 215 |
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"grasp_group": {
|
| 216 |
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"grasp_20": {
|
| 217 |
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"confidence": 0.9414931535720825,
|
| 218 |
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| 219 |
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| 220 |
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0.025310010518296622,
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| 221 |
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| 222 |
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],
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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0.6179281563302624
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| 229 |
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]
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| 230 |
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}
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| 231 |
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},
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| 232 |
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"grasp_21": {
|
| 233 |
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"confidence": 0.8683796525001526,
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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],
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| 239 |
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| 241 |
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| 243 |
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| 244 |
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-0.41198348716037825
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| 245 |
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]
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| 246 |
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}
|
| 247 |
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},
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| 248 |
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"grasp_22": {
|
| 249 |
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"confidence": 0.8354079127311707,
|
| 250 |
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| 251 |
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|
| 252 |
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0.08976685522065964,
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| 253 |
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0.03262603959592525
|
| 254 |
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],
|
| 255 |
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"orientation": {
|
| 256 |
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|
| 257 |
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| 258 |
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| 259 |
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| 261 |
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| 262 |
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| 263 |
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},
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| 264 |
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"grasp_23": {
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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],
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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|
| 276 |
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-0.5136746830793939
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| 277 |
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]
|
| 278 |
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}
|
| 279 |
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},
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| 280 |
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"grasp_25": {
|
| 281 |
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| 282 |
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| 283 |
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0.11407767233322375,
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| 284 |
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0.015439460854395293,
|
| 285 |
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0.036089095534407534
|
| 286 |
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],
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| 287 |
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"orientation": {
|
| 288 |
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|
| 289 |
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| 291 |
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| 292 |
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| 293 |
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]
|
| 294 |
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}
|
| 295 |
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},
|
| 296 |
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"grasp_26": {
|
| 297 |
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"confidence": 0.8454573750495911,
|
| 298 |
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| 299 |
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| 300 |
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0.024960447903140448,
|
| 301 |
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0.04182895204576198
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| 302 |
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],
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| 303 |
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"orientation": {
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| 304 |
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| 305 |
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| 306 |
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|
| 307 |
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| 308 |
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0.4360177087980219
|
| 309 |
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]
|
| 310 |
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}
|
| 311 |
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},
|
| 312 |
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"grasp_28": {
|
| 313 |
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"confidence": 0.3677591383457184,
|
| 314 |
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"position": [
|
| 315 |
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0.0030646230734419078,
|
| 316 |
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0.011406089979573153,
|
| 317 |
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0.10391806370171253
|
| 318 |
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],
|
| 319 |
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"orientation": {
|
| 320 |
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"w": 0.052080731208426906,
|
| 321 |
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"xyz": [
|
| 322 |
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0.14809569472536604,
|
| 323 |
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0.987314905060132,
|
| 324 |
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-0.02376006916465891
|
| 325 |
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]
|
| 326 |
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}
|
| 327 |
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},
|
| 328 |
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"grasp_29": {
|
| 329 |
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"confidence": 0.9019061326980591,
|
| 330 |
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"position": [
|
| 331 |
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0.08407071974943392,
|
| 332 |
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-0.001584264580742456,
|
| 333 |
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0.06104521012457553
|
| 334 |
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],
|
| 335 |
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"orientation": {
|
| 336 |
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"w": 0.32953522460847284,
|
| 337 |
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"xyz": [
|
| 338 |
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-0.6372204670719734,
|
| 339 |
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-0.6003159690962838,
|
| 340 |
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0.35352135626410064
|
| 341 |
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]
|
| 342 |
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}
|
| 343 |
+
}
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"part_name": "side printed marking",
|
| 348 |
+
"mask_color": "Magenta",
|
| 349 |
+
"graspable": false,
|
| 350 |
+
"grasp_scenarios": [],
|
| 351 |
+
"functional_labels": [
|
| 352 |
+
"display product information",
|
| 353 |
+
"aid identification",
|
| 354 |
+
"provide printed labeling"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Small printed blue or dark-blue logo/text area on a side or lower exterior face of the carton, flush with the smooth matte paperboard and not a separate physical piece.",
|
| 357 |
+
"id": 7,
|
| 358 |
+
"grasp_group": {}
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"part_name": "top printed marking",
|
| 362 |
+
"mask_color": "Crimson",
|
| 363 |
+
"graspable": false,
|
| 364 |
+
"grasp_scenarios": [],
|
| 365 |
+
"functional_labels": [
|
| 366 |
+
"display product information",
|
| 367 |
+
"aid identification",
|
| 368 |
+
"provide printed labeling"
|
| 369 |
+
],
|
| 370 |
+
"semantic_description": "Small printed text or symbol on the top face of the carton, appearing as blue or dark printed characters on the smooth matte cardboard and not protruding from the surface.",
|
| 371 |
+
"id": 16,
|
| 372 |
+
"grasp_group": {}
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"quality_check": {
|
| 376 |
+
"success": false,
|
| 377 |
+
"message": "One mask color is wrong and printed regions are not meaningful physical parts for affordance annotation."
|
| 378 |
+
}
|
| 379 |
+
}
|
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2450f8443eca27c801cf6613537a14f97c6f4aee9af6b9f6fab5d578890e9310
|
| 3 |
+
size 3796052
|
dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.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>
|