Add asset desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/affordance_annot.json +492 -0
- dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/correction_tape_009.urdf +1 -0
.gitattributes
CHANGED
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@@ -6435,3 +6435,4 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/affo
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| 6435 |
dataset/desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6436 |
dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6437 |
dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6435 |
dataset/desktop_supplies/office_stationery/9cd027143646553c83a5a65f413f681a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6436 |
dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6437 |
dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6438 |
+
dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,492 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "housing",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the housing to pick up and move the correction tape dispenser",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the housing to stabilize the dispenser while applying tape",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the housing to reorient the dispenser for precise tape placement",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"enclose internal tape mechanism",
|
| 24 |
+
"support tape application",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large teardrop-shaped dark purple plastic body with a mostly matte smooth hard surface, medium thickness, side printing, and rounded edges forming the main outer shell of the dispenser.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_18": {
|
| 31 |
+
"confidence": 0.9787015914916992,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.07374636593158357,
|
| 34 |
+
0.0020517498633125797,
|
| 35 |
+
0.07656699809012935
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.24491063716631611,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6701948624413957,
|
| 41 |
+
0.6604954249084184,
|
| 42 |
+
0.23367374656772258
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_19": {
|
| 47 |
+
"confidence": 0.9778316020965576,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.06967989864642732,
|
| 50 |
+
0.0016298565460601822,
|
| 51 |
+
0.07989460619864985
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.21419998226070328,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.6643237707377242,
|
| 57 |
+
0.6776277684893321,
|
| 58 |
+
-0.23154460176064148
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_20": {
|
| 63 |
+
"confidence": 0.9776354432106018,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.07543889197404496,
|
| 66 |
+
0.002636372475535609,
|
| 67 |
+
0.07348407449899241
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.2514546347685325,
|
| 71 |
+
"xyz": [
|
| 72 |
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0.6668047950232949,
|
| 73 |
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0.6558432065642381,
|
| 74 |
+
0.2490213251729731
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_21": {
|
| 79 |
+
"confidence": 0.9775280356407166,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10134383055265062,
|
| 82 |
+
0.0006873328384244815,
|
| 83 |
+
0.04219974594889209
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.3652312330285809,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6064474446794003,
|
| 89 |
+
0.5963988342965834,
|
| 90 |
+
0.3783332839070938
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_22": {
|
| 95 |
+
"confidence": 0.9769554138183594,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.07241595300729387,
|
| 98 |
+
0.002100935103953816,
|
| 99 |
+
0.07518539967713878
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.2363046188291407,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.6738553182915736,
|
| 105 |
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0.6565868448876248,
|
| 106 |
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0.24284326684240345
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_23": {
|
| 111 |
+
"confidence": 0.9764266014099121,
|
| 112 |
+
"position": [
|
| 113 |
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-0.10902075233752839,
|
| 114 |
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0.0015407756582135335,
|
| 115 |
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0.02100762742338702
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
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"w": 0.43520798346640255,
|
| 119 |
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"xyz": [
|
| 120 |
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0.5713017687052794,
|
| 121 |
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0.5446921623737745,
|
| 122 |
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0.4330343501962743
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_24": {
|
| 127 |
+
"confidence": 0.9760777354240417,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.06737328085000627,
|
| 130 |
+
0.001987540992558934,
|
| 131 |
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0.07913455012021586
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.21726460567602368,
|
| 135 |
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"xyz": [
|
| 136 |
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0.676096668788892,
|
| 137 |
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0.6697244138137493,
|
| 138 |
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0.21716029820120347
|
| 139 |
+
]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_25": {
|
| 143 |
+
"confidence": 0.9756563901901245,
|
| 144 |
+
"position": [
|
| 145 |
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-0.10688829186256044,
|
| 146 |
+
0.0015597669553244486,
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| 491 |
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| 492 |
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|
dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:80a034cf6464f7fe11f31c65b9ee86b2e2a6523af4973680ab34d05d99190878
|
| 3 |
+
size 3784404
|
dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/correction_tape_009.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>
|