Add asset desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.urdf +1 -0
- dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/affordance_annot.json +637 -0
- dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -8185,3 +8185,4 @@ dataset/desktop_supplies/office_stationery/15d2a626556d5a758148c82b1da2e475/affo
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| 8185 |
dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8186 |
dataset/desktop_supplies/office_stationery/1740bc6dc16f509587e292c20c6b74b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8187 |
dataset/desktop_supplies/office_stationery/18d9b7dcbdf959d3bd76c31de9fde6f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8185 |
dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8186 |
dataset/desktop_supplies/office_stationery/1740bc6dc16f509587e292c20c6b74b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8187 |
dataset/desktop_supplies/office_stationery/18d9b7dcbdf959d3bd76c31de9fde6f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8188 |
+
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,637 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top handle",
|
| 5 |
+
"mask_color": "Cyan",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top handle to pick up and reposition the stapler",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top handle while aligning the stapler over papers",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "press down on the top handle to actuate stapling",
|
| 18 |
+
"confidence": 0.98
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"press to staple",
|
| 23 |
+
"provide main handhold",
|
| 24 |
+
"cover internal mechanism",
|
| 25 |
+
"guide top-down actuation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large curved black plastic upper shell with a glossy smooth hard surface, forming the top of the stapler and serving as the dominant elongated gripping and pressing area.",
|
| 28 |
+
"id": 6,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9703114032745361,
|
| 32 |
+
"position": [
|
| 33 |
+
0.005033170920796692,
|
| 34 |
+
0.04124340112321079,
|
| 35 |
+
0.12923323595896363
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.0011431413498265897,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.03021668529777752,
|
| 41 |
+
0.9992722066398606,
|
| 42 |
+
0.02325300399030339
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9695990085601807,
|
| 48 |
+
"position": [
|
| 49 |
+
0.006116262287832797,
|
| 50 |
+
0.021486394805833697,
|
| 51 |
+
0.127474928740412
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.0395433989000338,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.9991565216649209,
|
| 57 |
+
0.004371728460649045,
|
| 58 |
+
0.01017117535762816
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
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| 617 |
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{
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| 618 |
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"part_name": "hinge and staple mechanism",
|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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|
| 627 |
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| 628 |
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"semantic_description": "Small exposed silver metal mechanism with a reflective smooth hard finish, including the rear hinge and inner stapling channel between the top handle and base.",
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| 629 |
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| 630 |
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| 634 |
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"success": true,
|
| 635 |
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| 636 |
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| 637 |
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|
dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:608b141ecb7833a88828c8c6268398b3edb49bc474e27bf2cccf9a13397f2a1f
|
| 3 |
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size 672824
|