Add asset desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/affordance_annot.json +545 -0
- dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.urdf +1 -0
.gitattributes
CHANGED
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@@ -6451,3 +6451,4 @@ dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/affo
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| 6451 |
dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6452 |
dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6453 |
dataset/desktop_supplies/office_stationery/a7c4c14fca8c528eafc91082f36a55dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6451 |
dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6452 |
dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6453 |
dataset/desktop_supplies/office_stationery/a7c4c14fca8c528eafc91082f36a55dc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6454 |
+
dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,545 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top handle to lift and reposition the stapler",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top handle while pressing downward to staple",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the top handle to open the stapler for reloading",
|
| 18 |
+
"confidence": 0.77
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"press to drive staples",
|
| 23 |
+
"provide main handhold",
|
| 24 |
+
"cover the stapling mechanism",
|
| 25 |
+
"pivot to open for loading"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large curved red plastic upper arm with a matte-to-satin finish, smooth surface with shallow ribbed grooves on top, forming the main top piece above the base with a small circular silver pivot pin visible near the rear side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9796324372291565,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.002322638116311282,
|
| 34 |
+
0.04810270469170064,
|
| 35 |
+
0.0943442010320723
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.2551002056801451,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9667409283165357,
|
| 41 |
+
-0.013062759348776376,
|
| 42 |
+
0.01285406153038006
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9795249104499817,
|
| 48 |
+
"position": [
|
| 49 |
+
0.002538209839258343,
|
| 50 |
+
-0.004584836191497743,
|
| 51 |
+
0.1018651151098311
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.12192954476169031,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.9924918789569547,
|
| 57 |
+
-0.0034170562270675747,
|
| 58 |
+
-0.009021088927706995
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9795169830322266,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0037628558347932994,
|
| 66 |
+
0.009500912274233997,
|
| 67 |
+
0.10590706253424287
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.06690634118619432,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.9975097225120924,
|
| 73 |
+
0.018751157330615345,
|
| 74 |
+
0.01209500317023491
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9789463877677917,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.0059375904384069145,
|
| 82 |
+
0.05222767766099423,
|
| 83 |
+
0.09187820786610246
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.2808729791326089,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.95949825634893,
|
| 89 |
+
-0.0047622203187869805,
|
| 90 |
+
0.021231743078967403
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.978450357913971,
|
| 96 |
+
"position": [
|
| 97 |
+
0.00022304878802970052,
|
| 98 |
+
0.03203012596350163,
|
| 99 |
+
0.10154823446646333
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.06414139125285201,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.9978300985073386,
|
| 105 |
+
-0.014422849554212872,
|
| 106 |
+
0.0035997016154065797
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9774283766746521,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0038076325436122715,
|
| 114 |
+
0.05310830648522824,
|
| 115 |
+
0.09348041051998734
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.2810346387899343,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.959669060087367,
|
| 121 |
+
-0.00675114043107905,
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"support the staple magazine",
|
| 533 |
+
"connect the moving top to the stapling head",
|
| 534 |
+
"enable stapling operation"
|
| 535 |
+
],
|
| 536 |
+
"semantic_description": "Small silver metal internal assembly visible between the red top handle and red base, including the rear pivot area and the narrow magazine/head components seen from the side and front views.",
|
| 537 |
+
"id": 3,
|
| 538 |
+
"grasp_group": {}
|
| 539 |
+
}
|
| 540 |
+
],
|
| 541 |
+
"quality_check": {
|
| 542 |
+
"success": true,
|
| 543 |
+
"message": "YES"
|
| 544 |
+
}
|
| 545 |
+
}
|
dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:03a26f8b91385ae6014a78e3a782a478207e81b1f77d4e8e79d888087e8be0e3
|
| 3 |
+
size 3781588
|
dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.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>
|
|
|
|
| 57 |
</affordance>
|
| 58 |
<quality>
|
| 59 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
|
| 57 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
|