Add asset desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0
Browse files- .gitattributes +1 -0
- dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/affordance/affordance_annot.json +557 -0
- dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/affordance/mesh_part_seg.glb +3 -0
- dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.urdf +1 -0
.gitattributes
CHANGED
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@@ -8224,3 +8224,4 @@ dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/affo
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| 8224 |
dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8225 |
dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8226 |
dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8224 |
dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8225 |
dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8226 |
dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8227 |
+
dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,557 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cover",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cover to press down and actuate the stapler",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the top cover to lift and reposition the stapler",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the top cover to open the stapler for reloading",
|
| 18 |
+
"confidence": 0.63
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"press to drive staples",
|
| 23 |
+
"cover the staple magazine",
|
| 24 |
+
"provide main hand contact surface",
|
| 25 |
+
"open for reloading"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark blue plastic top housing with a glossy smooth hard surface, rounded rectangular shape, medium-large size, positioned on the upper side, with lighter translucent blue end sections visible.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9809311032295227,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.0059190845204284415,
|
| 34 |
+
0.009177356492727995,
|
| 35 |
+
0.10433175740763545
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.06051304882070802,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.9974890687991539,
|
| 41 |
+
0.008061094949318226,
|
| 42 |
+
0.035899126686283034
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9804800748825073,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.020246556130587123,
|
| 50 |
+
0.007234213408082724,
|
| 51 |
+
0.10150211630389094
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.10585948261561585,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.9903622819870834,
|
| 57 |
+
0.015978718505980483,
|
| 58 |
+
0.0878692261977832
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9798390865325928,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.0035266276536276564,
|
| 66 |
+
0.0021582855843007565,
|
| 67 |
+
0.10648939339444041
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.04826239124763763,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.9985409164825233,
|
| 73 |
+
0.006851940225729283,
|
| 74 |
+
0.023234255237586564
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9790249466896057,
|
| 80 |
+
"position": [
|
| 81 |
+
0.0014014258194947615,
|
| 82 |
+
0.06204745313152671,
|
| 83 |
+
0.09709288505837321
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.18774291799944504,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.982103040556068,
|
| 89 |
+
0.0014545364647080283,
|
| 90 |
+
0.014969929701000525
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9781215190887451,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0017082084814319387,
|
| 98 |
+
0.016181498300284147,
|
| 99 |
+
0.10190764395520091
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.050122549493654134,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.9987113072943278,
|
| 105 |
+
-5.157929845657494e-05,
|
| 106 |
+
0.007965679775569012
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9775158762931824,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0004638483951566741,
|
| 114 |
+
0.02480135252699256,
|
| 115 |
+
0.1026415484957397
|
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"w": 0.013987399097860972,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.007064829848408499,
|
| 530 |
+
0.736689090622711,
|
| 531 |
+
0.6760500163472916
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"part_name": "staple magazine and metal throat",
|
| 539 |
+
"mask_color": "Blue",
|
| 540 |
+
"graspable": false,
|
| 541 |
+
"grasp_scenarios": [],
|
| 542 |
+
"functional_labels": [
|
| 543 |
+
"guide staples forward",
|
| 544 |
+
"house the staple strip",
|
| 545 |
+
"deliver staples toward the anvil",
|
| 546 |
+
"connect upper mechanism to front working area"
|
| 547 |
+
],
|
| 548 |
+
"semantic_description": "Narrow silver metal internal channel with some translucent blue plastic around the front, reflective smooth hard surface, slim and recessed between the top cover and base near the front opening.",
|
| 549 |
+
"id": 2,
|
| 550 |
+
"grasp_group": {}
|
| 551 |
+
}
|
| 552 |
+
],
|
| 553 |
+
"quality_check": {
|
| 554 |
+
"success": true,
|
| 555 |
+
"message": "YES"
|
| 556 |
+
}
|
| 557 |
+
}
|
dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9fa743bbf7a9339fa0144d8efcdcd23c20bc7b63847091ef2767aa888cf21b0f
|
| 3 |
+
size 2118348
|
dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.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>
|