Add asset desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/affordance_annot.json +475 -0
- dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.urdf +1 -0
.gitattributes
CHANGED
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@@ -8220,3 +8220,4 @@ dataset/desktop_supplies/office_stationery/e7b82f1e5288564895659ebc23b435c4/affo
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| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8221 |
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8222 |
dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8220 |
dataset/desktop_supplies/office_stationery/e936c97e42d95c2eb5052eaf6dd911ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8221 |
dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8222 |
dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8223 |
+
dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,475 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pen barrel",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the barrel to pick up the pen",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the barrel to reposition or orient the pen for writing",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the pen by clamping the barrel during tool use",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"house the ink reservoir",
|
| 24 |
+
"support the writing tip",
|
| 25 |
+
"provide structural body"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long orange-red plastic barrel with a semi-gloss smooth hard surface, faceted polygonal shape, and the largest central body of the pen.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9769493937492371,
|
| 32 |
+
"position": [
|
| 33 |
+
0.017440177034586668,
|
| 34 |
+
0.10058745766582433,
|
| 35 |
+
0.0025041988701559603
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4981715369335386,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5143684043087642,
|
| 41 |
+
-0.4853973823731893,
|
| 42 |
+
0.5016369659658142
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9767782688140869,
|
| 48 |
+
"position": [
|
| 49 |
+
0.013703275937587023,
|
| 50 |
+
0.09640384490194265,
|
| 51 |
+
-0.0031180441728793085
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5217544430960772,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.4960118791074349,
|
| 57 |
+
-0.4763039940305811,
|
| 58 |
+
0.5048554468006953
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.9750235080718994,
|
| 64 |
+
"position": [
|
| 65 |
+
0.020369417499750853,
|
| 66 |
+
0.10174667114915792,
|
| 67 |
+
0.006167316867504269
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5006090217910603,
|
| 71 |
+
"xyz": [
|
| 72 |
+
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|
| 73 |
+
0.5206585721863685,
|
| 74 |
+
-0.4655119835005051
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_4": {
|
| 79 |
+
"confidence": 0.9749526977539062,
|
| 80 |
+
"position": [
|
| 81 |
+
0.008314604870975018,
|
| 82 |
+
0.09767998034658376,
|
| 83 |
+
-0.01131397666176781
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5162944139945129,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.48009692556414246,
|
| 89 |
+
-0.4751399865553403,
|
| 90 |
+
0.5264874294017968
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9748329520225525,
|
| 96 |
+
"position": [
|
| 97 |
+
0.014492941554635763,
|
| 98 |
+
0.09953270877304021,
|
| 99 |
+
-0.003517442790325731
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.51338268361542,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.49962091150338805,
|
| 105 |
+
0.5012674583736828,
|
| 106 |
+
-0.48533297861153163
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.9745071530342102,
|
| 112 |
+
"position": [
|
| 113 |
+
0.019685670267790556,
|
| 114 |
+
0.10216130340995733,
|
| 115 |
+
0.00047160001122392714
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5212385661983229,
|
| 119 |
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"xyz": [
|
| 120 |
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0.513955722925024,
|
| 121 |
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0.49996793845026477,
|
| 122 |
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-0.4628087428970254
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9745012521743774,
|
| 128 |
+
"position": [
|
| 129 |
+
0.015565256122499704,
|
| 130 |
+
0.1023827272147173,
|
| 131 |
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0.0013130420702509582
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
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"w": 0.4984597071516722,
|
| 135 |
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"xyz": [
|
| 136 |
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0.5035597359553655,
|
| 137 |
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-0.4830214073985143,
|
| 138 |
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0.5144471135749429
|
| 139 |
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]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9742806553840637,
|
| 144 |
+
"position": [
|
| 145 |
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0.015471213031560183,
|
| 146 |
+
0.10080064857902471,
|
| 147 |
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-0.0007621271070092916
|
| 148 |
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],
|
| 149 |
+
"orientation": {
|
| 150 |
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"w": 0.4921944114488343,
|
| 151 |
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"xyz": [
|
| 152 |
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0.5014804908211987,
|
| 153 |
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-0.49361104025356417,
|
| 154 |
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0.512454992759422
|
| 155 |
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]
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"join front components",
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"space the tip assembly",
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],
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"semantic_description": "Very small yellow-orange ring at the pen nose with a smooth hard finish, encircling the base of the tip assembly as a thin transition piece.",
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| 467 |
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],
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"success": true,
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"message": "YES"
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| 474 |
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}
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| 475 |
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}
|
dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:df2e5514b597facafd3113ad62cf7ffd769a1cb0013b14c0fcf9625ffd71ecd6
|
| 3 |
+
size 947572
|
dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|