Add asset desktop_supplies/office_tools/024e468216215da3affc71a52b526479
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/affordance_annot.json +670 -0
- dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.urdf +1 -0
.gitattributes
CHANGED
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@@ -8229,3 +8229,4 @@ dataset/desktop_supplies/office_stationery/ff760e8f41105b30a5ea6551ccf2a702/affo
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| 8229 |
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8229 |
dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8230 |
dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8231 |
dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8232 |
+
dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,670 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "stamp body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main cylindrical body to pick up and reposition the stamp",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body while aligning the stamp for pressing",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to stabilize the stamp during handling or storage",
|
| 18 |
+
"confidence": 0.84
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house internal stamp mechanism",
|
| 24 |
+
"support pressing action",
|
| 25 |
+
"provide structural enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large light gray plastic cylindrical upper body with a smooth mostly matte surface, rounded top, and a small side protruding tab near the midsection, forming the main enclosure of the stamp.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9604349732398987,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.04795491410186514,
|
| 34 |
+
-0.007844511419534683,
|
| 35 |
+
0.14480791334062815
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.1511236223378937,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6234471695482137,
|
| 41 |
+
0.7378510183897734,
|
| 42 |
+
0.20988366352569937
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9601638913154602,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10316732438514009,
|
| 50 |
+
0.0027141013415530324,
|
| 51 |
+
0.04703873861581087
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4979620692559759,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.4927678464287484,
|
| 57 |
+
-0.5136229486874269,
|
| 58 |
+
0.49538378424198826
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9583739638328552,
|
| 64 |
+
"position": [
|
| 65 |
+
0.00017323513748124242,
|
| 66 |
+
-0.0005039343377575278,
|
| 67 |
+
0.1568973595276475
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dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:0239dc77137010c4ef0e11dd70280104700c3b70eca920b14fc106f88a8278b1
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| 3 |
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size 3780276
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dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.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>
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|
|
|
| 54 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 55 |
</geometry>
|
| 56 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 58 |
</affordance>
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| 59 |
<quality>
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| 60 |
<PartSegChecker>YES</PartSegChecker>
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