Add asset desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/a72c89edd60757eab7d237d48861e304.urdf +1 -0
- dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/affordance/affordance_annot.json +554 -0
- dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -6145,3 +6145,4 @@ dataset/desktop_supplies/decorations/a19d3f79aabe54248bf4a6ef350f1ea5/affordance
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| 6145 |
dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6146 |
dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6147 |
dataset/desktop_supplies/decorations/a72649317b295e15a9d7da45fb4b734a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6145 |
dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6146 |
dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6147 |
dataset/desktop_supplies/decorations/a72649317b295e15a9d7da45fb4b734a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6148 |
+
dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/a72c89edd60757eab7d237d48861e304.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/decorations/a72c89edd60757eab7d237d48861e304/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,554 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "phone support panel",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main panel edges to pick up and reposition the stand",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the panel to stabilize the stand while adjusting its placement",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support a phone upright",
|
| 19 |
+
"provide a leaning backrest",
|
| 20 |
+
"present the phone for viewing",
|
| 21 |
+
"help maintain device orientation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large translucent light gray plastic panel with a glossy smooth hard surface, broad flat rounded-rectangle shape, and upright position forming the main phone-contact area.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9849104285240173,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.03291372861713171,
|
| 30 |
+
0.15314152010250837,
|
| 31 |
+
0.07332577742636204
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.035612398105946956,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.05714932872487077,
|
| 37 |
+
0.712554031610483,
|
| 38 |
+
-0.6983784528198776
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9844637513160706,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.03036248404532671,
|
| 46 |
+
0.15545409091282636,
|
| 47 |
+
0.07649344392120838
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.05418276193866779,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.032458522802209344,
|
| 53 |
+
0.7215744314903135,
|
| 54 |
+
-0.6894497896334638
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9830186367034912,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.016703945118933916,
|
| 62 |
+
-0.14979549578856677,
|
| 63 |
+
-0.0063265589997172356
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.8537241640280745,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.5204601222447467,
|
| 69 |
+
0.001985056313096756,
|
| 70 |
+
-0.01650371046106239
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.9817424416542053,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.030467805452644825,
|
| 78 |
+
0.15452743240166456,
|
| 79 |
+
0.06254233606159687
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.6992448282369784,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.7106934351885721,
|
| 85 |
+
0.049985742600928584,
|
| 86 |
+
0.05893162903177762
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.9808079600334167,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.019933138974010944,
|
| 94 |
+
-0.15844508341979235,
|
| 95 |
+
0.033644890412688255
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7407282277478143,
|
| 99 |
+
"xyz": [
|
| 100 |
+
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|
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dataset/desktop_supplies/decorations/a72c89edd60757eab7d237d48861e304/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e8564ffa955baf56abbd9b292b7e913f16538444f49215d01d787234b7fdea7a
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| 3 |
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size 513264
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