Add asset desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/affordance_annot.json +396 -0
- dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/stapler_010.urdf +1 -0
.gitattributes
CHANGED
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@@ -6284,3 +6284,4 @@ dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/affo
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| 6284 |
dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6285 |
dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6286 |
dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6284 |
dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6285 |
dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6286 |
dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6287 |
+
dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,396 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stapler base from the sides to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the stapler while the top arm is actuated",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the stapler",
|
| 19 |
+
"rest on the desk",
|
| 20 |
+
"align paper at the bottom",
|
| 21 |
+
"provide a main grasp surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rectangular pale blush plastic base with rounded corners, a matte smooth hard surface, and broad flat proportions forming the lower support of the stapler.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "stapler mechanism",
|
| 29 |
+
"mask_color": "Magenta",
|
| 30 |
+
"graspable": false,
|
| 31 |
+
"grasp_scenarios": [],
|
| 32 |
+
"functional_labels": [
|
| 33 |
+
"drive and guide staples",
|
| 34 |
+
"connect the top arm to the base",
|
| 35 |
+
"press staples through paper",
|
| 36 |
+
"enable opening and closing motion"
|
| 37 |
+
],
|
| 38 |
+
"semantic_description": "Partly exposed silver metal internal mechanism with a reflective smooth hard finish, medium-sized and recessed between the top arm and base near the center and rear hinge area.",
|
| 39 |
+
"id": 7,
|
| 40 |
+
"grasp_group": {}
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"part_name": "top arm",
|
| 44 |
+
"mask_color": "Green",
|
| 45 |
+
"graspable": true,
|
| 46 |
+
"grasp_scenarios": [
|
| 47 |
+
{
|
| 48 |
+
"scenario": "grasp the top arm to lift and carry the stapler",
|
| 49 |
+
"confidence": 0.76
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"scenario": "grasp the top arm to open the stapler for loading or tacking",
|
| 53 |
+
"confidence": 0.69
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"scenario": "press and hold the top arm to actuate stapling while stabilizing the base",
|
| 57 |
+
"confidence": 0.71
|
| 58 |
+
}
|
| 59 |
+
],
|
| 60 |
+
"functional_labels": [
|
| 61 |
+
"press to staple",
|
| 62 |
+
"cover the mechanism",
|
| 63 |
+
"provide leverage",
|
| 64 |
+
"open for loading"
|
| 65 |
+
],
|
| 66 |
+
"semantic_description": "Elongated pale blush plastic top arm with a matte smooth hard surface, gently tapered and rounded, sitting above the base as the main upper lever.",
|
| 67 |
+
"id": 1,
|
| 68 |
+
"grasp_group": {
|
| 69 |
+
"grasp_0": {
|
| 70 |
+
"confidence": 0.9730727076530457,
|
| 71 |
+
"position": [
|
| 72 |
+
-0.0007744483300484717,
|
| 73 |
+
0.06173549685627222,
|
| 74 |
+
0.1036993209272623
|
| 75 |
+
],
|
| 76 |
+
"orientation": {
|
| 77 |
+
"w": 0.28094136787325136,
|
| 78 |
+
"xyz": [
|
| 79 |
+
0.9595140864090604,
|
| 80 |
+
0.010232332310783021,
|
| 81 |
+
0.017319502751932867
|
| 82 |
+
]
|
| 83 |
+
}
|
| 84 |
+
},
|
| 85 |
+
"grasp_1": {
|
| 86 |
+
"confidence": 0.9726049900054932,
|
| 87 |
+
"position": [
|
| 88 |
+
-0.0025485529913567007,
|
| 89 |
+
0.05620244238525629,
|
| 90 |
+
0.1063955295830965
|
| 91 |
+
],
|
| 92 |
+
"orientation": {
|
| 93 |
+
"w": 0.24588024302392528,
|
| 94 |
+
"xyz": [
|
| 95 |
+
0.9689707104666199,
|
| 96 |
+
0.005962913805801245,
|
| 97 |
+
0.024558338853718165
|
| 98 |
+
]
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"grasp_2": {
|
| 102 |
+
"confidence": 0.9724292159080505,
|
| 103 |
+
"position": [
|
| 104 |
+
0.004538611334282905,
|
| 105 |
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0.06814234424382448,
|
| 106 |
+
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|
| 107 |
+
],
|
| 108 |
+
"orientation": {
|
| 109 |
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"w": 0.2805446912072312,
|
| 110 |
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"xyz": [
|
| 111 |
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|
| 112 |
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|
| 113 |
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-0.00949496241735054
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"grasp_3": {
|
| 118 |
+
"confidence": 0.9723261594772339,
|
| 119 |
+
"position": [
|
| 120 |
+
0.00833074824186042,
|
| 121 |
+
0.06371164787560701,
|
| 122 |
+
0.10446190275251865
|
| 123 |
+
],
|
| 124 |
+
"orientation": {
|
| 125 |
+
"w": 0.27855353240737485,
|
| 126 |
+
"xyz": [
|
| 127 |
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0.9600073808125272,
|
| 128 |
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-0.007811455952850432,
|
| 129 |
+
-0.027069161877334883
|
| 130 |
+
]
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
"grasp_4": {
|
| 134 |
+
"confidence": 0.9720911383628845,
|
| 135 |
+
"position": [
|
| 136 |
+
0.002254016522783786,
|
| 137 |
+
0.05754023510962725,
|
| 138 |
+
0.10317368991672993
|
| 139 |
+
],
|
| 140 |
+
"orientation": {
|
| 141 |
+
"w": 0.2851996208382152,
|
| 142 |
+
"xyz": [
|
| 143 |
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0.9582648072020282,
|
| 144 |
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0.019238057588407687,
|
| 145 |
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|
| 146 |
+
]
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"grasp_5": {
|
| 150 |
+
"confidence": 0.9716682434082031,
|
| 151 |
+
"position": [
|
| 152 |
+
0.004134856921155006,
|
| 153 |
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0.0742373364046216,
|
| 154 |
+
0.10310501046478748
|
| 155 |
+
],
|
| 156 |
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"orientation": {
|
| 157 |
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"w": 0.28064664008581713,
|
| 158 |
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"xyz": [
|
| 159 |
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0.9597101753834762,
|
| 160 |
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0.012514915012888095,
|
| 161 |
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-0.006100784882232592
|
| 162 |
+
]
|
| 163 |
+
}
|
| 164 |
+
},
|
| 165 |
+
"grasp_6": {
|
| 166 |
+
"confidence": 0.9714585542678833,
|
| 167 |
+
"position": [
|
| 168 |
+
0.0016873288550414145,
|
| 169 |
+
0.0744122015312314,
|
| 170 |
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0.1014156136661768
|
| 171 |
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],
|
| 172 |
+
"orientation": {
|
| 173 |
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"w": 0.2829243992702801,
|
| 174 |
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"xyz": [
|
| 175 |
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0.95904022161542,
|
| 176 |
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0.01193011982046105,
|
| 177 |
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0.0073013603161633505
|
| 178 |
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]
|
| 179 |
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}
|
| 180 |
+
},
|
| 181 |
+
"grasp_7": {
|
| 182 |
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"confidence": 0.9712721109390259,
|
| 183 |
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"position": [
|
| 184 |
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0.0005161453154869378,
|
| 185 |
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0.0748372720554471,
|
| 186 |
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0.1020700503140688
|
| 187 |
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],
|
| 188 |
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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:3cc9c5cd272eea997cb0d43e77283f7b8304a16e4d925972f0968a39dfceae19
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| 3 |
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size 3778624
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dataset/desktop_supplies/office_stationery/25c685f4ffd75cd5b987d43533a2fbc8/stapler_010.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>
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|
|
|
| 57 |
</affordance>
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| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
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|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 55 |
</geometry>
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| 56 |
</visual_seg>
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| 57 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 58 |
</affordance>
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| 59 |
<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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