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Add asset desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a

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Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/affordance_annot.json +644 -0
  3. dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/sharpener_005.urdf +1 -0
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dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/affordance_annot.json ADDED
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+ }
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+ },
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+ "grasp_64": {
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+ "confidence": 0.973383367061615,
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+ "position": [
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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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+ "part_name": "crank handle",
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+ "mask_color": "Red",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "grasp the handle knob and arm to rotate the crank for sharpening",
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+ "confidence": 0.97
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+ },
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+ {
548
+ "scenario": "pull or fold the handle outward slightly before turning",
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+ "confidence": 0.56
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+ }
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+ ],
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+ "functional_labels": [
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+ "turn cutter mechanism",
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+ "provide manual input",
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+ "enable sharpening motion"
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+ ],
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+ "semantic_description": "Bent dark blue crank projecting from the side, with a smooth finish and a small rounded handhold at the end.",
558
+ "id": 0,
559
+ "grasp_group": {}
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+ },
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+ {
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+ "part_name": "crank hub",
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+ "mask_color": "Pink",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "connect crank to body",
568
+ "support crank rotation",
569
+ "cover axle area"
570
+ ],
571
+ "semantic_description": "Short circular side hub in dark blue plastic with a ribbed outer surface, surrounding the crank axle where it enters the housing.",
572
+ "id": 8,
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+ "grasp_group": {}
574
+ },
575
+ {
576
+ "part_name": "hub collar",
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+ "mask_color": "Blue",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "space crank from housing",
582
+ "support rotating joint",
583
+ "transition between hub and handle"
584
+ ],
585
+ "semantic_description": "Thin blue ring between the ribbed crank hub and the handle assembly, forming a narrow circular collar around the side-mounted axle.",
586
+ "id": 2,
587
+ "grasp_group": {}
588
+ },
589
+ {
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+ "part_name": "pencil entry opening",
591
+ "mask_color": "Orange",
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+ "graspable": false,
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+ "grasp_scenarios": [],
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+ "functional_labels": [
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+ "guide pencil insertion",
596
+ "position pencil for cutting",
597
+ "define sharpening port"
598
+ ],
599
+ "semantic_description": "Circular opening on the front face of the sharpener, appearing as the pencil entry port set into the dark blue housing.",
600
+ "id": 4,
601
+ "grasp_group": {}
602
+ },
603
+ {
604
+ "part_name": "drawer latch slider",
605
+ "mask_color": "Green",
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+ "graspable": true,
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+ "grasp_scenarios": [
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+ {
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+ "scenario": "push the small ridged slider with a fingertip to release or secure the drawer",
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+ "confidence": 0.74
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+ }
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+ ],
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+ "functional_labels": [
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+ "small control input",
615
+ "drawer release or lock control",
616
+ "user-operated slider"
617
+ ],
618
+ "semantic_description": "Small ridged blue slider located low on the body near the shavings drawer area, sized for fingertip operation.",
619
+ "id": 1,
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+ "grasp_group": {
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+ "grasp_24": {
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+ "confidence": 0.3163471519947052,
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+ "position": [
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+ -0.11999517516233027,
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+ 0.001570095308125019
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+ ],
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+ "orientation": {
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+ "w": 0.3449149050356135,
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+ "xyz": [
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+ -0.6318658849021122,
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+ -0.3442777427577207,
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+ -0.602703946911577
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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": {
641
+ "success": false,
642
+ "message": "Several part descriptions mismatch images; handle color wrong, opening not circular, and green part is a slider/button on drawer, not body."
643
+ }
644
+ }
dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/affordance/mesh_part_seg.glb ADDED
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dataset/desktop_supplies/office_stationery/ed4a4f5e5d3e511c87688c25ec30489a/sharpener_005.urdf CHANGED
@@ -54,6 +54,7 @@
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  <quality>
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  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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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>YES</PartSegChecker>