Add asset desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/affordance_annot.json +458 -0
- dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/stamp_011.urdf +4 -3
.gitattributes
CHANGED
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@@ -8238,3 +8238,4 @@ dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/affordanc
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| 8238 |
dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8239 |
dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8240 |
dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8238 |
dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8239 |
dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8240 |
dataset/desktop_supplies/office_tools/096194dff5e75dcb837f6f930c3fe22f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8241 |
+
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,458 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stamp housing",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer housing to pick up and reposition the stamp",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing while pressing the stamp onto a surface",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the housing to stabilize the stamp during alignment",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal mechanism",
|
| 24 |
+
"support pressing action",
|
| 25 |
+
"protect internal parts"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large black plastic outer housing with a matte finish and smooth surfaces, forming a tall rounded-rectangular shell around the upper portion of the stamp, with white side trim visible along the edges.",
|
| 28 |
+
"id": 6,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9856435060501099,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.06481606757733971,
|
| 34 |
+
0.000276717561064288,
|
| 35 |
+
0.1136390557512641
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.17891549160951717,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.6980218284381722,
|
| 41 |
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0.6677049933432437,
|
| 42 |
+
-0.1868818229535827
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9854770302772522,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.023051635012961924,
|
| 50 |
+
-0.0015935004485072568,
|
| 51 |
+
0.12153827305883169
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.07617974075079563,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.6978844962343909,
|
| 57 |
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0.7113249117395744,
|
| 58 |
+
-0.03421617970345404
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9851765632629395,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0652816022047773,
|
| 66 |
+
0.006804739750805311,
|
| 67 |
+
0.11176746245473623
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.1874635503985581,
|
| 71 |
+
"xyz": [
|
| 72 |
+
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|
| 73 |
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0.6842526274516743,
|
| 74 |
+
0.17229585836129027
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9846488833427429,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.06636807566974312,
|
| 82 |
+
0.002588368413853459,
|
| 83 |
+
0.11112204845994711
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1807021344536073,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6888677333997112,
|
| 89 |
+
0.6758290402156547,
|
| 90 |
+
-0.1899028511788122
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9845103621482849,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.06172044819686562,
|
| 98 |
+
0.012304455201956443,
|
| 99 |
+
0.1103017246350646
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.20128836337737185,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.6809762699610625,
|
| 105 |
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0.6862454330840034,
|
| 106 |
+
0.1575484690186684
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9840002655982971,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.011063927435316145,
|
| 114 |
+
-0.0021292905585141852,
|
| 115 |
+
0.126490599475801
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.0012411310335493698,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.7087728660909599,
|
| 121 |
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-0.705386532205983,
|
| 122 |
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-0.008326107696969563
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.983994722366333,
|
| 128 |
+
"position": [
|
| 129 |
+
0.10732310020830482,
|
| 130 |
+
0.0026131625490961596,
|
| 131 |
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0.07785174902528524
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.35292146843199906,
|
| 135 |
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"xyz": [
|
| 136 |
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-0.613206261722229,
|
| 137 |
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-0.6141589951892187,
|
| 138 |
+
0.3496187156498068
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9839847683906555,
|
| 144 |
+
"position": [
|
| 145 |
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-0.06383197254035622,
|
| 146 |
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0.0020028233266202733,
|
| 147 |
+
0.11111270543187857
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
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"w": 0.1723585688319795,
|
| 151 |
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"xyz": [
|
| 152 |
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-0.6930647266094727,
|
| 153 |
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0.673770884157622,
|
| 154 |
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-0.1897013551385044
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
+
"grasp_8": {
|
| 159 |
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"confidence": 0.9839128851890564,
|
| 160 |
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"position": [
|
| 161 |
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|
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|
| 414 |
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|
| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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"create printed text or pattern"
|
| 419 |
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],
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| 420 |
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"semantic_description": "Flat rectangular stamp face recessed inside the lower opening, appearing red in the visible views and positioned where it contacts paper.",
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| 422 |
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"part_name": "front/side push button",
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|
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"control mechanism",
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],
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"semantic_description": "Small oval red push button set into the housing, visible on the front in some views and on the side in others, with a smooth slightly glossy plastic finish.",
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},
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{
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"part_name": "internal guide struts",
|
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|
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|
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| 443 |
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| 444 |
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"connect upper housing to base",
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| 447 |
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"stabilize structure"
|
| 448 |
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],
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"semantic_description": "Narrow internal side struts visible beneath the housing near the opening, appearing dark in the RGB image and helping connect the housing to the lower base.",
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| 450 |
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| 451 |
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],
|
| 454 |
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"quality_check": {
|
| 455 |
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"success": false,
|
| 456 |
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"message": "Yellow part is a side lock/button, not front; red part describes stamp face color/shape incorrectly."
|
| 457 |
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}
|
| 458 |
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}
|
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c29688b4290f0a677bd5d7fdd412b629be6bf4f2b8eb23678b7c3451a651f5e
|
| 3 |
+
size 3788748
|
dataset/desktop_supplies/office_tools/0a681ccd7b1a50b3a65f780d2e524b45/stamp_011.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>NO:
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>6</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 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":"Segmentation splits single functional parts into multiple colors and misses clear separations.","merge_groups":[{"colors":["Red","Lime Green"],"target_part":"base/frame","reason":"same supporting body and bottom surface"},{"colors":["Purple","Violet"],"target_part":"side button/axle feature","reason":"same small side feature fragments"},{"colors":["Cyan","Crimson"],"target_part":"upper housing and stamp face","reason":"single stamp head split inconsistently"}]}</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|