Add asset desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/affordance_annot.json +510 -0
- dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/correction_tape_002.urdf +1 -0
.gitattributes
CHANGED
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@@ -8214,3 +8214,4 @@ dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/affo
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| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8216 |
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8214 |
dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8215 |
dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8216 |
dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8217 |
+
dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,510 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "correction tape body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and reposition the correction tape",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while applying tape to paper",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the dispenser body while orienting the tip toward the writing surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip surface",
|
| 23 |
+
"house internal tape mechanism",
|
| 24 |
+
"support dispensing",
|
| 25 |
+
"provide hand orientation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large teardrop-shaped pink plastic housing with a smooth slightly glossy hard surface, printed white branding, forming the main bulk of the dispenser behind the tip.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9889897108078003,
|
| 32 |
+
"position": [
|
| 33 |
+
0.09516418655402958,
|
| 34 |
+
-0.0026104335265699774,
|
| 35 |
+
0.061185364436823875
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.3111416335881209,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6344875978570076,
|
| 41 |
+
-0.6300524354384577,
|
| 42 |
+
-0.3219476675048728
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9888066053390503,
|
| 48 |
+
"position": [
|
| 49 |
+
0.09226544131524861,
|
| 50 |
+
-0.002163350029150024,
|
| 51 |
+
0.06873828248353675
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3168425410814735,
|
| 55 |
+
"xyz": [
|
| 56 |
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-0.6240402449715722,
|
| 57 |
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-0.6482827057553143,
|
| 58 |
+
0.2998568162230492
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9887645244598389,
|
| 64 |
+
"position": [
|
| 65 |
+
0.09819138725288212,
|
| 66 |
+
-0.0038160203548613936,
|
| 67 |
+
0.061956611287314445
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.3100755792582156,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.6311633663703831,
|
| 73 |
+
-0.6330462135180838,
|
| 74 |
+
-0.3236331745203259
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9887000918388367,
|
| 80 |
+
"position": [
|
| 81 |
+
0.09571717609651387,
|
| 82 |
+
0.0018189976399298757,
|
| 83 |
+
0.0650317303952761
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.30665596151570695,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6266153297573871,
|
| 89 |
+
-0.6381526374841683,
|
| 90 |
+
0.32569396839965836
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9885673522949219,
|
| 96 |
+
"position": [
|
| 97 |
+
0.09623353113420308,
|
| 98 |
+
-0.0019989585562143475,
|
| 99 |
+
0.059924770903307945
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.3135969891512002,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.6329786294170457,
|
| 105 |
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-0.6292391215619102,
|
| 106 |
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-0.3241189766005935
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9882142543792725,
|
| 112 |
+
"position": [
|
| 113 |
+
0.0912099473644048,
|
| 114 |
+
0.002100063458783552,
|
| 115 |
+
0.06816384271951392
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.3080431307998164,
|
| 119 |
+
"xyz": [
|
| 120 |
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-0.6262053641091463,
|
| 121 |
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-0.6415483860308883,
|
| 122 |
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0.31842101047063703
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9881190657615662,
|
| 128 |
+
"position": [
|
| 129 |
+
0.047019507037475705,
|
| 130 |
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-0.0037919195892754942,
|
| 131 |
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0.10050900356145576
|
| 132 |
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],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.11654788122804154,
|
| 135 |
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"xyz": [
|
| 136 |
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0.7061270696614254,
|
| 137 |
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-0.6851303686627594,
|
| 138 |
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|
dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/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 sha256:71db36c8be2bb54dd60f008b1c82c25a211ef66c6a9449d7146f1a17c30047a0
|
| 3 |
+
size 3777488
|
dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/correction_tape_002.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>
|