Add asset desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/affordance_annot.json +732 -0
- dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/sharpener_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -8166,3 +8166,4 @@ dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/affo
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| 8166 |
dataset/desktop_supplies/office_stationery/0634f388c3845f1e929f367581352d20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8167 |
dataset/desktop_supplies/office_stationery/0773f8fc18b45b85a3a5a65c99e746e6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8168 |
dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8166 |
dataset/desktop_supplies/office_stationery/0634f388c3845f1e929f367581352d20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8167 |
dataset/desktop_supplies/office_stationery/0773f8fc18b45b85a3a5a65c99e746e6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8168 |
dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8169 |
+
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,732 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "sharpener body",
|
| 5 |
+
"mask_color": "Brown",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the sharpener",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body steady while inserting and sharpening a pencil",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body while emptying or inspecting the shavings compartment",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal sharpening mechanism",
|
| 24 |
+
"enclose shavings compartment",
|
| 25 |
+
"provide structural support",
|
| 26 |
+
"stabilize during sharpening"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large red plastic housing with a mostly matte smooth finish, rounded rectangular form, and fine ribbed texture across the bottom area. One face has white printed branding, and a translucent light gray shavings window is visible on another side.",
|
| 29 |
+
"id": 11,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9842178821563721,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.010394166223704815,
|
| 35 |
+
0.028490710421465337,
|
| 36 |
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}
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|
| 697 |
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{
|
| 698 |
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|
| 699 |
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"mask_color": "Magenta",
|
| 700 |
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"graspable": false,
|
| 701 |
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"grasp_scenarios": [],
|
| 702 |
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"functional_labels": [
|
| 703 |
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"guide pencil insertion",
|
| 704 |
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"center the pencil at the opening",
|
| 705 |
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"protect the entry opening",
|
| 706 |
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"connect the front opening to the internal cutter"
|
| 707 |
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],
|
| 708 |
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"semantic_description": "Dark gray to black plastic tapered front nozzle protruding from the side of the sharpener. It has a matte hard surface and a conical shape leading to the pencil entry opening.",
|
| 709 |
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"id": 7,
|
| 710 |
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"grasp_group": {}
|
| 711 |
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},
|
| 712 |
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{
|
| 713 |
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"part_name": "front collar ring",
|
| 714 |
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"mask_color": "Olive",
|
| 715 |
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"graspable": false,
|
| 716 |
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"grasp_scenarios": [],
|
| 717 |
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"functional_labels": [
|
| 718 |
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"join nozzle to body",
|
| 719 |
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"retain the front assembly",
|
| 720 |
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"provide a transition between nozzle and body",
|
| 721 |
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"support alignment of the entry piece"
|
| 722 |
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],
|
| 723 |
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"semantic_description": "Thin dark gray ring around the base of the front nozzle, appearing as a narrow ridged collar with limited exposed surface area.",
|
| 724 |
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"id": 14,
|
| 725 |
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"grasp_group": {}
|
| 726 |
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}
|
| 727 |
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],
|
| 728 |
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"quality_check": {
|
| 729 |
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"success": false,
|
| 730 |
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"message": "Mask colors and part segmentation are incorrect; handle merged with body, collar color mismatched, nozzle color mismatched."
|
| 731 |
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}
|
| 732 |
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}
|
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a160ddc02e59bc70790d64cfefecc4de4ad5c4278f4d061c472e0966baa5aa61
|
| 3 |
+
size 3821440
|
dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/sharpener_002.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>NO: {"summary":"Crank and main housing are merged; blade/window details are inconsistently labeled and not fixable by merging.","merge_groups":[]}</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>NO: {"summary":"Crank and main housing are merged; blade/window details are inconsistently labeled and not fixable by merging.","merge_groups":[]}</PartSegChecker>
|