Add asset desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/affordance_annot.json +582 -0
- dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.urdf +1 -0
.gitattributes
CHANGED
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@@ -8629,3 +8629,4 @@ dataset/desktop_supplies/office_stationery/f3a13eb8170857009ed274c7bd71cffe/affo
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| 8629 |
dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8630 |
dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8631 |
dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8629 |
dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8630 |
dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8631 |
dataset/desktop_supplies/office_stationery/f58b794c3b165191bd6cd85755cf87ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8632 |
+
dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,582 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cap",
|
| 5 |
+
"mask_color": "Purple",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cap to remove or unscrew it from the glue stick",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to hold the glue stick temporarily during uncapping",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the glue",
|
| 19 |
+
"protect the adhesive tip",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide grip for uncapping"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A medium-sized brown plastic cap at the top with a matte to slightly satin finish, hard ribbed sides for traction, and a round cylindrical shape sized to fit over the glue applicator.",
|
| 24 |
+
"id": 5,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_24": {
|
| 27 |
+
"confidence": 0.9133790135383606,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04106051634880714,
|
| 30 |
+
0.021489880746230483,
|
| 31 |
+
0.14045119751244783
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.12782737133334188,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.49877450893623515,
|
| 37 |
+
0.8309953857072745,
|
| 38 |
+
-0.21054885729122969
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_25": {
|
| 43 |
+
"confidence": 0.9084517359733582,
|
| 44 |
+
"position": [
|
| 45 |
+
0.03148138735559769,
|
| 46 |
+
0.08753517619334161,
|
| 47 |
+
0.10146740544587374
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.09748124614106757,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.14585368785897176,
|
| 53 |
+
-0.8494474112860843,
|
| 54 |
+
0.4976577175610689
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_26": {
|
| 59 |
+
"confidence": 0.9062334299087524,
|
| 60 |
+
"position": [
|
| 61 |
+
0.050396221020491794,
|
| 62 |
+
0.09500614902935922,
|
| 63 |
+
0.03999649081379175
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.16794519023391608,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.17716878711899323,
|
| 69 |
+
-0.6704279024870494,
|
| 70 |
+
0.7006654419299512
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_27": {
|
| 75 |
+
"confidence": 0.8980996608734131,
|
| 76 |
+
"position": [
|
| 77 |
+
0.040221294650109485,
|
| 78 |
+
0.09732574573718011,
|
| 79 |
+
0.04935463611036539
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.14955262973590275,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.14181906054785284,
|
| 85 |
+
-0.6905122523147522,
|
| 86 |
+
0.6933355568608959
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_28": {
|
| 91 |
+
"confidence": 0.8957934975624084,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.04334163453313522,
|
| 94 |
+
0.0278265958186239,
|
| 95 |
+
0.14088343549519777
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.20368049823566184,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.8392086086719783,
|
| 101 |
+
0.48719314228987864,
|
| 102 |
+
0.12994617299108419
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
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| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_15": {
|
| 520 |
+
"confidence": 0.9206054210662842,
|
| 521 |
+
"position": [
|
| 522 |
+
0.08061685998109169,
|
| 523 |
+
-0.07069712528027594,
|
| 524 |
+
-0.020080230198800564
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.3054391641286668,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.2779222829740373,
|
| 530 |
+
-0.637633379607267,
|
| 531 |
+
-0.6502997730689254
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_17": {
|
| 536 |
+
"confidence": 0.9204183220863342,
|
| 537 |
+
"position": [
|
| 538 |
+
0.03915371958282776,
|
| 539 |
+
0.09742494276724756,
|
| 540 |
+
0.036784994415938854
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.12983337716810048,
|
| 544 |
+
"xyz": [
|
| 545 |
+
-0.12932642745630862,
|
| 546 |
+
-0.6879695574471989,
|
| 547 |
+
0.7022220854974727
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
{
|
| 554 |
+
"part_name": "base of glue stick",
|
| 555 |
+
"mask_color": "Orange",
|
| 556 |
+
"graspable": true,
|
| 557 |
+
"grasp_scenarios": [
|
| 558 |
+
{
|
| 559 |
+
"scenario": "grasp the bottom end to reorient or lift the glue stick",
|
| 560 |
+
"confidence": 0.58
|
| 561 |
+
},
|
| 562 |
+
{
|
| 563 |
+
"scenario": "hold the base while manipulating the upper body or cap",
|
| 564 |
+
"confidence": 0.49
|
| 565 |
+
}
|
| 566 |
+
],
|
| 567 |
+
"functional_labels": [
|
| 568 |
+
"support standing upright",
|
| 569 |
+
"close the bottom of the container",
|
| 570 |
+
"provide end contact surface",
|
| 571 |
+
"help stabilize placement"
|
| 572 |
+
],
|
| 573 |
+
"semantic_description": "A flat circular bottom end in cream plastic with a matte hard smooth surface, located at the underside as a slightly recessed base for standing and support.",
|
| 574 |
+
"id": 4,
|
| 575 |
+
"grasp_group": {}
|
| 576 |
+
}
|
| 577 |
+
],
|
| 578 |
+
"quality_check": {
|
| 579 |
+
"success": true,
|
| 580 |
+
"message": "YES"
|
| 581 |
+
}
|
| 582 |
+
}
|
dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:10de70e91324da00afe84aefa2f58631deee3c310907552d4fe409ffd7cb3e49
|
| 3 |
+
size 3782952
|
dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 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>YES</PartSegChecker>
|