Add asset desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/affordance_annot.json +618 -0
- dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.urdf +1 -0
.gitattributes
CHANGED
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@@ -8210,3 +8210,4 @@ dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/affo
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| 8210 |
dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8211 |
dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8210 |
dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8211 |
dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8212 |
dataset/desktop_supplies/office_stationery/e2ff068c92695a2a8c52d635396ce7d7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8213 |
+
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,618 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen holder body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer side walls to pick up and relocate the pen holder",
|
| 10 |
+
"confidence": 0.92
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the upper body to stabilize the pen holder while inserting or removing pens",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain pens and pencils",
|
| 19 |
+
"provide the main enclosure",
|
| 20 |
+
"support side grasping",
|
| 21 |
+
"present decorative exterior surfaces"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Tall faceted pen-holder body with a scalloped open rim, made of glossy ceramic or porcelain. The exterior side panels are mostly black with deep red highlights and white floral motifs, with smooth reflective surfaces and gold-toned edging near the top and along panel borders.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9024385213851929,
|
| 28 |
+
"position": [
|
| 29 |
+
0.027271251019556075,
|
| 30 |
+
0.1115769799798727,
|
| 31 |
+
-0.02090624999254942
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.7477491906853461,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6525174995558215,
|
| 37 |
+
-0.07783408473704778,
|
| 38 |
+
-0.09504691397396668
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9018741250038147,
|
| 44 |
+
"position": [
|
| 45 |
+
0.015037183475214988,
|
| 46 |
+
0.11553499661386013,
|
| 47 |
+
-0.009307044092565775
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7108902898895539,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.7004774834619731,
|
| 53 |
+
-0.04699959808237031,
|
| 54 |
+
-0.041920504334068284
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.900208592414856,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.015358609321992844,
|
| 62 |
+
-0.10505965538322926,
|
| 63 |
+
0.026511219330132008
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.6064454397243618,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.7917737555652754,
|
| 69 |
+
0.04971549696913469,
|
| 70 |
+
-0.053353706494458676
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.8979248404502869,
|
| 76 |
+
"position": [
|
| 77 |
+
0.02573594154091552,
|
| 78 |
+
0.11047731898725033,
|
| 79 |
+
-0.0202883118763566
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7115774743419898,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.693650542633135,
|
| 85 |
+
-0.07576076937317144,
|
| 86 |
+
-0.08226012726599664
|
| 87 |
+
]
|
| 88 |
+
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dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/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:e1b60418c7ab79409b62698e883c2aa19ded2f0f97a2871af8380fa6065cb653
|
| 3 |
+
size 3779232
|
dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.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 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 58 |
</affordance>
|
| 59 |
<quality>
|
| 60 |
<PartSegChecker>YES</PartSegChecker>
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