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Add asset desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148

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Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/affordance_annot.json +541 -0
  3. dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/ballpoint_pen_006.urdf +4 -3
.gitattributes CHANGED
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dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/affordance_annot.json ADDED
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+ "connect barrel sections",
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+ "semantic_description": "Small orange rectangular barrel segment in the middle of the pen, glossy plastic, positioned between neighboring blue and green block sections.",
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+ "scenario": "lightly grasp the clip area to help reposition the pen",
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+ "clip to pocket",
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+ "aid orientation by touch"
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+ "semantic_description": "Curved red plastic side clip with a smooth glossy surface, slim elongated shape, attached along the rear half of the pen beside the large yellow rear block.",
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+ "id": 21,
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+ "grasp_group": {
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+ "grasp_40": {
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+ "confidence": 0.9719122648239136,
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+ ]
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+ }
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+ }
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+ }
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+ }
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+ ],
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+ "quality_check": {
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+ "success": false,
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+ "message": "Several mask-color mappings and part descriptions mismatch the segmented parts; some graspability labels are unrealistic for barrel sections."
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+ }
541
+ }
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb ADDED
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+ size 3786680
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/ballpoint_pen_006.urdf CHANGED
@@ -47,16 +47,17 @@
47
  </link>
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  <custom_data>
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  <affordance>
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- <part_count>0</part_count>
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  <visual_seg>
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  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
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- <mesh filename="None" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
 
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  </affordance>
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  <quality>
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- <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>
 
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  </link>
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  <custom_data>
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  <affordance>
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+ <part_count>6</part_count>
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  <visual_seg>
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  <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
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  <geometry>
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+ <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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  </geometry>
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  </visual_seg>
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+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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  </affordance>
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  <quality>
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+ <PartSegChecker>NO: {"summary":"Functional parts are merged incorrectly; clip, clicker, tip and barrel are not cleanly separated, and issues are not fixable by merging.","merge_groups":[]}</PartSegChecker>
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  </quality>
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  </custom_data>
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  </robot>